Work vehicle sprayer system and method with nozzle monitoring

ABSTRACT

A nozzle monitoring system is provided for a sprayer system of a work vehicle. The system includes a first sensor configured to generate signals associated with vibrations of a first nozzle apparatus on the work vehicle that disperses a primary fluid from the sprayer system during operation; and a controller having a processor receiving the signals generated by the first sensor and having a memory coupled to the processor and storing instructions. The processor executes the stored instructions to: convert the vibrations into a frequency domain representation; generate an image from the frequency domain representation; classify the image to generate a clog condition probability; and generate, based on the clog condition probability, a command to initiate a cleaning event of the first nozzle apparatus.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a nonprovisional application of, and claims priorityto U.S. Provisional Patent Application 63/070,611, filed Aug. 26, 2020and incorporated herein by reference.

STATEMENT OF FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

Not applicable.

FIELD OF THE DISCLOSURE

This disclosure generally relates to fluid sprayer systems such as thoseused in agriculture, manufacturing, and industrial applications.

BACKGROUND OF THE DISCLOSURE

Agricultural sprayer systems use a collection of components like filterand nozzle apparatuses for distributing one or more types of fluids,such as fertilizer, pesticide, fungicide, herbicides, water,insecticide, adjuvants, chemical products, or combinations thereof overa field or other type of geographical area. The sprayer system may havenumerous filter and nozzle apparatuses. Proper functioning of suchapparatuses ensure that fluid dispersal occurs evenly and as expected,thereby improving operational efficiency and agricultural yields.

SUMMARY OF THE DISCLOSURE

The disclosure provides a system and method for monitoring, evaluating,and addressing clog and debris issues associated with a sprayer system.

In one aspect, a nozzle monitoring system is provided for a sprayersystem of a work vehicle. The system includes a first sensor configuredto generate signals associated with vibrations of a first nozzleapparatus on the work vehicle that disperses a primary fluid from thesprayer system during operation; and a controller having a processorreceiving the signals generated by the first sensor and having a memorycoupled to the processor and storing instructions. The processorexecutes the stored instructions to: convert the vibrations into afrequency domain representation generate an image from the frequencydomain representation; classify the image to generate a clog conditionprobability; and generate, based on the clog condition probability, acommand to initiate a cleaning event of the first nozzle apparatus.

In a further aspect, a sprayer system is provided for dispersing aprimary fluid on a work vehicle. The sprayer system includes at least afirst nozzle apparatus configured to disperse the primary fluid and toexecute a cleaning event; a first sensor configured to generate signalsassociated with vibrations of the first nozzle apparatus duringoperation; and a controller having a processor receiving the signalsgenerated by the first sensor and having a memory coupled to theprocessor and storing instructions. The processor executes the storedinstructions to: convert the vibrations into a frequency domainrepresentation; generate an image from the frequency domainrepresentation; classify the image with a neural network to generate aclog condition probability; compare the clog condition probability to aclog condition threshold; and generate, when the clog conditionprobability meets or exceeds the clog condition threshold, a command toinitiate the cleaning event of the first nozzle apparatus.

The details of one or more embodiments are set forth in the accompanyingdrawings and the description below. Other features and advantages willbecome apparent from the description, the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an agricultural work vehicle in which a sprayingsystem may be used according to an example embodiment;

FIG. 2 is a schematic block diagram of the sprayer system of FIG. 1according to an example embodiment;

FIG. 3 is an isometric view of a filter apparatus that may be used inthe sprayer system of FIG. 1 according to an example embodiment;

FIG. 4 is a cross-sectional view of the filter apparatus through line4-4 of FIG. 3 according to an example embodiment;

FIG. 5 is a partial exploded view of the filter apparatus of FIG. 3according to an example embodiment;

FIG. 6 is an isometric view of a screen device of the filter apparatusof FIG. 3 according to an example embodiment;

FIGS. 7A-7C are various views of a plunger assembly of the filterapparatus of FIG. 3 according to an example embodiment;

FIGS. 7D-7F are various views of a filter unit upper housing of thefilter apparatus of FIG. 3 according to an example embodiment;

FIGS. 7G-7I are various views of a flow plate seat of the filterapparatus of FIG. 3 according to an example embodiment;

FIGS. 8A and 8B are cross-sectional views of a portion of the filterapparatus of FIG. 3 respectively depicting the plunger assembly in anominal position and a cleaning position according to an exampleembodiment;

FIG. 9 is a more detailed cross-sectional view of the plunger assemblywithin the filter apparatus of FIG. 3 according to an exampleembodiment;

FIG. 10 is a first isometric view of a first (or switching) nozzleapparatus of the sprayer system of FIG. 1 according to an exampleembodiment;

FIG. 11 is a second isometric view of the switching nozzle apparatus ofthe sprayer system of FIG. 1 according to an example embodiment;

FIG. 12 is an exploded view of the switching nozzle apparatus of FIGS.10 and 11 according to an example embodiment;

FIG. 13 is an isometric view of a manifold of the switching nozzleapparatus of FIGS. 10 and 11 according to an example embodiment;

FIGS. 14A-140 are various views of an inlet plate of the switchingnozzle apparatus of FIGS. 10 and 11 according to an example embodiment;

FIG. 15 is an isometric view of a nozzle holder of the switching nozzleapparatus of FIGS. 10 and 11 according to an example embodiment;

FIGS. 16A-160 are various views of a nozzle retainer of the switchingnozzle apparatus of FIGS. 10 and 11 according to an example embodiment;

FIGS. 17A-17C are various views of a nozzle array of the switchingnozzle apparatus of FIGS. 10 and 11 according to an example embodiment;

FIGS. 18A-18C are various views of the switching nozzle apparatus ofFIGS. 10 and 11 in a nominal position according to an exampleembodiment;

FIGS. 19A-19C are various views of the switching nozzle apparatus ofFIGS. 10 and 11 in a cleaning position according to an exampleembodiment;

FIGS. 20A-20C are various views of the switching nozzle apparatus ofFIGS. 10 and 11 in an additional cleaning position according to anexample embodiment;

FIG. 21 is a first isometric view of a second (or pinching) nozzleapparatus of the sprayer system of FIG. 1 according to an exampleembodiment;

FIG. 22 is a second isometric view of the pinching nozzle apparatus ofthe sprayer system of FIG. 1 according to an example embodiment;

FIG. 23 is a first exploded view of the pinching nozzle apparatus ofFIGS. 21 and 22 according to an example embodiment;

FIG. 24 is a second exploded view of the pinching nozzle apparatus ofFIGS. 21 and 22 according to an example embodiment;

FIGS. 25A and 25B are respective isometric and cross-sectional views ofthe pinching nozzle apparatus of FIGS. 21 and 22 in a pinched positionaccording to an example embodiment;

FIGS. 26A and 26B are respective side and cross-sectional views of thepinching nozzle apparatus of FIGS. 21 and 22 in an unpinched positionaccording to an example embodiment;

FIG. 27 is a flowchart depicting a method for monitoring a nozzleapparatus device according to an example embodiment;

FIG. 28 is an example MFC coefficient image that may be utilized in thenozzle apparatus monitoring method of FIG. 27 according to an exampleembodiment; and

FIG. 29 is an example nozzle clog display that may be utilized in thesprayer system of FIG. 1 according to an example embodiment.

Like reference symbols in the various drawings indicate like elements.

DETAILED DESCRIPTION

The following describes one or more example embodiments of the disclosedsystem and method, as shown in the accompanying figures of the drawingsdescribed briefly above. Various modifications to the exampleembodiments may be contemplated by one of skill in the art.

Agricultural sprayer systems use a collection of components like filterand nozzle apparatuses for distributing one or more types of fluids,such as fertilizer, pesticide, fungicide, water, or insecticide,accurately and/or appropriately over a field or other type ofgeographical area. In addition to the fluid intended for dispersal, thefluid may contain “debris,” including dirt, dust, constituentsuspensions, inert materials, micro-encapsulated materials, biologicalmaterials, or fluid coagulation, that may lead to blockages or othertypes of clogs that impede fluid flow. In particular, the sprayersystems may include an array of nozzles distributed across large boomsin which each nozzle has one or more relatively small passageways thatare especially susceptible to clogs. Such clogs may be difficult toidentify and/or address due to the location and overall number ofnozzles. Clogged nozzles may adversely impact fluid distribution, workefficiency, and agricultural efficacy.

In various examples, the sprayer systems described below providemechanisms to identify and address debris and clogs, including one ormore self-cleaning filter apparatuses, one or more self-cleaning nozzleapparatuses, and/or a nozzle monitoring system to identify the nozzleclogs and/or to command the nozzle apparatuses to initiate the cleaningevent.

In one example, the self-cleaning filter apparatus may include a filterunit that houses a screen device that, during nominal operation, filtersat least a portion of debris out of the primary fluid. The filterapparatus may further include a plunger unit coupled to the filter unitand having a plunger rod supporting a plunger assembly within theinterior of the screen device that, upon actuation, executes a cleaningevent in which a friction element of the plunger assembly contacts theinterior surface of the screen device to dislodge at least a portion ofthe debris. The plunger assembly further includes a flow plate thatfunctions to direct the dislodged debris out of the filter unit and outof the filter apparatus.

In a further example, sprayer system may include a first nozzleapparatus, referenced below as a switching nozzle apparatus, thatperforms a self-cleaning function during a cleaning event. The switchingnozzle apparatus includes a manifold defining a nozzle cavity into whicha nozzle holder is incorporated. The nozzle holder may support one ormore components, including one or more nozzle elements, that define aninternal partial flow path. The switching nozzle apparatus furtherincludes an actuator that is coupled to selectively pivot the nozzleholder and the associated internal partial flow path within themanifold. As a result, the nozzle holder within the switching nozzleapparatus may have a first or nominal position in which the internalpartial flow path is aligned with the primary fluid inlet and outlet ofthe manifold to distribute the primary fluid during typical operation.Moreover, during a cleaning event, the actuator may pivot the nozzleholder such that the associated internal partial flow path is alignedwith a cleaning flow path in which air and/or primary fluid may be usedto dislodge debris of a potential clog within the nozzle elements and todirect the debris out of the switching nozzle apparatus.

In a further example, the sprayer system may include a second nozzleapparatus, referenced below as a pinching nozzle apparatus, thatperforms a self-cleaning function during a cleaning event and/or anadjustment function during a spray adjustment event. The pinching nozzleapparatus includes a support plate supporting a sprayer manifold ontowhich a nozzle element is mounted and a pincher gear assembly onto whichpinchers are arranged surrounding the nozzle element. Generally, anactuator may drive the pincher gear assembly between a pinched positionin which the nozzle element is at least partially closed and/or squeezedby pincher elements and an unpinched position in which the nozzleelement is more open with respect to the pinched position and/orunsqueezed by the pincher elements. In effect, the repositioning of thepincher elements functions to modify the cross-sectional shape of thenozzle element. During a cleaning event, a controller commands therepositioning of the pincher elements in order to dislodge debris of apotential clog within the nozzle element and direct the debris out ofthe pinching nozzle apparatus. During a spray adjustment event, thecontroller commands the repositioning of the pincher elements in orderto modify a spray pattern of the fluid out of the nozzle element of thepinching nozzle apparatus. In some implementations, the actuator maydrive the pincher gear assembly between one or more intermediate pinchedpositions in which the pincher elements are driven to modify thecross-sectional shapes into other cross-sectional shapes (e.g., that are“less pinched” than those of the pinched position).

In a further example, a nozzle monitoring system and method may be usedwithin or associated with the sprayer system to identify and address apartially or fully clogged nozzle element by initiating a cleaningevent. Generally, one or more sensors may be used to collect nozzle orvehicle vibrations in the form of audio signatures or waveforms that maybe converted into images of Mel-frequency cepstrum scale (MFC)coefficient, which may in turn be classified by a neural network togenerate a clog condition probability representing the presence (orabsence) of a clogged nozzle element used to selectively initiate thecleaning event.

It will also be understood that, while terms such as “top,” “bottom,”“upper,” “lower,” “clockwise,” “counterclockwise”, “above,” “below,”“front,” “back,” and the like may be utilized below with respect to anorientation or operation depicted in a particular figure, such terms maybe used in a relative sense and are not intended to limit the disclosureto the particular orientation or operation described. Variousmodifications to the example embodiments may be contemplated by one ofskill in the art.

As will be discussed in greater detail below, the sprayer system mayinclude one or more filter apparatuses, one or more nozzle apparatuses,and one or more nozzle clog monitoring systems, which may be used incombination or individually. The overall sprayer system will be brieflydescribed prior to a more detailed discussion of more specific aspects.

FIG. 1 is an example work vehicle 100 in which a sprayer system 102 maybe primarily implemented to distribute and/or disperse a primary fluid(e.g., fertilizer, insecticide, water, or other fluid) across ageographical area (e.g., a field). Generally, the sprayer system 102 maybe implemented in, or associated with, any suitable type of work machineor work vehicle 100. In one embodiment, the work vehicle 100 is in theform of a self-propelled vehicle (e.g., a tractor) that houses orotherwise supports the sprayer system 102. In some examples, portions ofthe sprayer system 102 may be towed behind the work vehicle 100. Invarious implementations, the work vehicle 100 may be either a manned orautonomous vehicle. In some implementations, the work vehicle 100 may bean aerial vehicle. Moreover, in some examples, the work vehicle 100 maybe omitted and the sprayer system 102 may be implemented in a stationaryor stand-alone sprayer system, such as an irrigation system. Additionaldetails regarding an example sprayer system 102 are provided below.

Although not described in detail, the work vehicle 100 may be formed bya vehicle frame supporting a cab and powertrain that generates power forpropulsion and/or other tasks to be performed by the work vehicle 100.For example, such a powertrain may include an engine, transmission,steering system, wheels, and the like for propelling and maneuvering thework vehicle 100, either autonomously or based on commands by theoperator. The work vehicle 100 may include various other components orsystems that are typical on work vehicles, including actuation systems,lubrication and cooling systems, battery systems, exhaust treatmentsystems, braking systems, and the like.

The work vehicle 100 may further include a vehicle controller 104 (ormultiple controllers) to control various aspects of the operation of thework vehicle 100, including operation of the sprayer system 102. Forexample, the vehicle controller 104 may facilitate automatic or manualmaneuvering of the work vehicle 100 traversing the field and actuationof the sprayer system 102. As more specific examples, the controller 104may implement one or more mechanisms for detecting and addressing clogsand/or accumulation of debris within sprayer system 102, includingwithin the one or more filter apparatuses and/or one or more nozzleapparatuses of the sprayer system 102, as discussed in greater detailbelow.

Generally, the vehicle controller 104 (or others) may be configured as acomputing device with associated processor devices and memoryarchitectures, as a hard-wired computing circuit (or circuits), as aprogrammable circuit, as a hydraulic, electrical or electro-hydrauliccontroller, or otherwise. As such, the vehicle controller 104 may beconfigured to execute various computational and control functionalitywith respect to the work vehicle 100 and sprayer system 102. In someembodiments, the vehicle controller 104 may be configured to receiveinput signals in various formats from a number of sources (e.g.,including from the operator via operator interfaces 106 and varioussensors 108, as well as units and systems onboard or remote from thework vehicle 100); and in response, the vehicle controller 104 generatesone or more types of commands for implementation by the various systemson or outside the work vehicle 100.

In some embodiments, the vehicle controller 104 may be configured toreceive input commands and to interface with an operator viahuman-vehicle (or “operator”) interface 106 in the form of one or moreoperator input devices and/or one or more display devices, which may bedisposed inside the cab of the work vehicle 100 for easy access by thevehicle operator. The input devices of the operator interface 106 may beconfigured in a variety of ways, including one or more joysticks,various switches or levers, one or more buttons, a touchscreeninterface, a keyboard, a speaker, a microphone associated with a speechrecognition system, or various other human-machine interface devices. Insome examples, the input devices of the operator interface 106 may beused to actuate or otherwise operate the sprayer system 102. A displaydevice of the operator interface 106 may be implemented as a flat paneldisplay or other display type that is integrated with an instrumentpanel or console of the work vehicle 100. As such, the display device ofthe operator interface 106 may include any suitable technology fordisplaying information, including, but not limited to, a liquid crystaldisplay (LCD), light emitting diode (LED), organic light emitting diode(OLED), plasma, or a cathode ray tube (CRT). In some examples, thedisplay device of the operator interface 106 may function to provideinformation associated with the sprayer system 102, including theidentification and/or actuation associated with the accumulation ofdebris or the clogging of one or more filter or nozzle apparatuses, asdiscussed in greater detail below.

As introduced above, the work vehicle 100 further includes varioussensors 108 that function to collect information associated with thework vehicle 100. Such information may be provided to the vehiclecontroller 104 for evaluation and, if necessary or desired, foractuation in response. In one example, one or more of the sensors 108may be associated with the sprayer system 102, including one or morefilter apparatus sensors and/or one or more nozzle apparatus sensors, asdiscussed in greater detail below.

FIG. 2 provides a simple schematic example of the sprayer system 102. Asshown, the sprayer system 102 may be considered to include a fluidsource 110 coupled to at least one filter apparatus 120, at least onefirst nozzle apparatus 122, and at least one second nozzle apparatus 124via at least one pump 112 and an arrangement of plumbing 114, whichgenerally corresponds to the system or array of lines, conduits, valves,tanks, and the like that facilitate flow of primary fluid (and otherfluids) within the sprayer system 102. As described in greater detailbelow, the sprayer system 102 may further include an air source 116 andassociated components, such as pumps, lines, and valves, to provide airflow to the filter apparatus 120, first nozzle apparatus 122, and/orsecond nozzle apparatus 124. Although not shown, the sprayer system 102may further include one or more separators, clean water tanks, rinsetanks, strainers, hoses, recirculation lines, and the like.

Briefly, the filter apparatus 120 is upstream of the nozzle apparatuses122, 124 and operates to filter debris out of the fluid flowing throughthe sprayer system 102. Although the sprayer system 102 of FIG. 2depicts a single filter apparatus 120, the overall sprayer system 102may include a number of filter apparatuses 120 arranged in series or inparallel to one another. In one example, a number of filter apparatuses120 may be arranged progressively in series with apparatuses 120 havingrelatively coarse filter devices upstream of those with relatively finefilter devices.

The depicted nozzle apparatuses 122, 124 are generally representative ofthe one or more nozzle apparatuses that function to distribute and/ordisperse the primary fluid from the sprayer system 102 along thegeographical area. In one example, the first nozzle apparatus 122 isdifferent than the second nozzle apparatus 124, as discussed in greaterdetail below. However, in some examples only the first nozzle apparatus122 is provided in the sprayer system 102; while in other examples, onlythe second nozzle apparatus 124 is provided in the sprayer system 102;and in further examples, both of the first and second nozzle apparatuses122, 124 are provided in the sprayer system 102. Moreover, although oneof each is depicted in FIG. 2 as representative depictions, typically,an array of first nozzle apparatuses 122 and/or an array of secondnozzle apparatuses 124 are spread across the work vehicle 100.

The schematic arrangement of the sprayer system 102 in FIG. 2 furtherdepicts the approximate position of the sensors 108, which includesensors 108 a-108 h. In particular, the filter apparatus 120 may beassociated with a first (or input) pressure sensor 108 a, a second (oroutput) pressure sensor 108 b, one or more flow sensors 108 c, and aninternal contact sensor 108 d. As described in greater detail below, theinput pressure sensor 108 a may measure the pressure of the primaryfluid entering the filter apparatus 120, and the output pressure sensor108 b may measure the pressure of the primary fluid exiting the filterapparatus 120, thereby enabling the determination of the pressure dropwithin the filter apparatus 120. The internal contact sensor 108 d maybe used to evaluate the position of a plunger assembly translatingthrough the filter apparatus 120. Each of the nozzle apparatuses 122,124 may be associated with a proximate nozzle sensor 108 f, 108 h and abaseline nozzle sensor 108 e, 108 g. Generally, the proximate nozzlesensors 108 f, 108 h and the baseline nozzle sensors 108 e, 108 g may bepiezoelectric sensors that generate signals representing the surroundingvibrations. As described below, the proximate nozzle sensors 108 f, 108h and the baseline nozzle sensors 108 e, 108 g may, in effect, functionto collect audio waveforms that enable the identification of cloggednozzle elements of the nozzle apparatuses 122, 124. In some embodiments,more than one of the nozzle apparatuses 122, 124 may be associated withthe same baseline nozzle sensor 108 e, 108 g (e.g., one of the baselinenozzle sensors 108 e, 108 g may be omitted), and in other embodiments,the baseline nozzle sensors 108 e, 108 g may be completely omitted.

As introduced above and depicted schematically in FIG. 2, one or moreaspects of the sprayer system 102 may be controlled by the controller104. In this context, the controller 104 may be considered a vehiclecontroller or a dedicated sprayer system controller in wired or wirelesscommunication with one or more components of the sprayer system 102.Generally, the controller 104 may be organized into one or morefunctional units or modules 130, 132, 134 (e.g., software, hardware, orcombinations thereof) implemented with processing architecture such as aprocessor 136 a and memory 136 b. For example, the modules 130, 132, 134may be implemented based on instructions stored in memory 136 b executedby the processor 136 a. The controller 104 and/or modules 130, 132, 134may further be implemented with an application specific integratedcircuit (ASIC), a field programmable gate array (FPGA), or any type ofelectronic circuit.

The modules 130, 132, 134 of controller 104 include one or more of anoperational module 130, a filter cleaning module 132, and/or a nozzlecleaning module 134. As also described in greater detail below, themodules 130, 132, 134 may operate based on signals from one or more ofthe sensors 108. In one example, the filter cleaning module 132 mayreceive signals from one or more filter apparatus sensors 108 a-108 d,including first and second pressure sensors 108 a, 108 b, flow sensor108 c, and filter apparatus contact sensor 108 d, as discussed ingreater detail below. Similarly, the nozzle clog module 134 may receivesignals from one or more nozzle sensors 108 e-108 h associated with oneor more of the nozzle apparatuses 122, 124, as also discussed in greaterdetail below.

In one example, the operational module 130 is configured to implementthe general operation of the sprayer system 102. In particular, theoperational module 130 may generate commands for the fluid source 110,the pump 112, the plumbing 114, the filter apparatus 120, the firstnozzle apparatus 122, and the second nozzle apparatus 124 to circulateor otherwise direct primary fluid from the fluid source 110 to thenozzle apparatuses 122, 124 for application onto the geographical area.

Generally, the filter cleaning module 132 operates to monitor the amountof accumulation in the filter apparatus 120 during nominal or normaloperation as a “nominal” (or non-cleaning) state, and upon reaching apredetermined amount of accumulation, to generate an actuation commandto perform a filter cleaning event during a cleaning state. Inparticular, the first pressure sensor 108 a may be positioned at orproximate to a fluid inlet of the filter apparatus 120 to collectupstream pressure values; the second pressure sensor 108 b may bepositioned at or proximate to a fluid outlet of the filter apparatus 120to collect downstream pressure values; and the flow sensor 108 c may bepositioned in any suitable position (e.g., between the pump 112 and thefilter apparatus 120) to collect flow rate values. In one example, thefilter cleaning module 132 may compare and monitor the first and secondpressure values to evaluate the pressure drop through the filterapparatus 120 in view of the fluid flow rate to the filter apparatus 120over time. The filter cleaning module 132 may, in view of the flow ratevalues, compare the pressure drop values to predetermined valuesrepresenting one or more debris accumulation conditions. In other words,a debris accumulation condition with relatively low debris accumulationmay have a relatively low pressure drop value at a particular flow rate,and vice versa. Such values may have time characteristics, e.g.,endpoints of potential clog indictive ranges over a time period may beused as thresholds to actuate cleaning. Upon reaching and identifying apredetermined pressure drop value (or debris accumulation condition),the filter cleaning module 132 declares a cleaning state and generatescommands to perform a cleaning event. In some examples, the actuationcommand to implement the cleaning event may be generated by a requestfrom the operator or in accordance with a time or usage schedule.

As noted above, the evaluation of debris accumulation and declaration ofthe cleaning state may be a function of pressure drop, flow rate, andother fluid characteristics. In one example, one or more debrisaccumulation thresholds representing a predetermined pressure drop as afunction of flow rate may be established to trigger a cleaning state. Ineffect, the flow rate may provide a compensation or adjustment toimprove the evaluation of the measured pressure drop in order to moreaccurately identify a suitable cleaning condition. Such debrisaccumulation thresholds may be expressed as one or more look-up tablesand/or as one or more equations or algorithms. Moreover, such debrisaccumulation thresholds may be derived based on empirical or theoreticaldata. In some examples, the flow rate sensor 108 c may be omitted andthe flow rate value or values may be derived, calculated, or assumedbased on any number of factors (e.g., flow settings or constant flowexpectations).

The nozzle cleaning module 134 operates to monitor characteristicsassociated with one or more of the nozzles of the first and secondnozzle apparatuses 122, 124; identify when one or more of the nozzlesare clogged; and upon identification, generate one or more actuationcommands for one or more of the nozzle apparatuses 122, 124 to addressthe clog condition, including by implementing a nozzle cleaning event inone or more of the nozzles apparatuses 122, 124. Additional informationregarding the operation of the filter cleaning module 132 and the nozzleclog module 134 is provided below.

An example filter apparatus 120 will now be described with reference toFIGS. 3-9. As introduced above, the filter apparatus 120 generallyfunctions to remove at least a portion of the debris from the primaryfluid to prevent or mitigate the debris from forming a clog in one ormore of the downstream nozzle apparatuses 122, 124. Moreover, asdescribed in greater detail below, the filter apparatus 120 operates asa self-cleaning apparatus to at least partially clear accumulated debrisfrom within the filter apparatus, upon command or upon determining thata predetermined amount of debris has accumulated.

Initial reference is made to FIG. 3, which is an isometric view of thefilter apparatus 120, and FIG. 4, which is a partial cross-sectionalview of the filter apparatus 120 of FIG. 3 through line 4-4. An examplelongitudinal axis 121 is depicted in FIG. 4 as a reference. In thediscussion below, the terms “above” and “below” may be used as relativedirections with respect to the longitudinal axis 121, but generally uponassembly, the filter apparatus 120 may have any spatial orientation.

Generally, the filter apparatus 120 may be considered to include aplunger unit 140 and a filter unit 250 that cooperate to filter theprimary fluid and to perform the cleaning event described below. Theplunger unit 140 is formed by a rod end housing 150 that extends betweena first end 152 and a second end 154 and that defines a rod end housinginterior 156, which may be subdivided into debris outlet chamber 158 anda rod end housing pressure chamber 160, discussed in greater detailbelow. Generally, the rod end housing 150 may have any suitable shape,including a cylindrical shape.

The first end 152 of the rod end housing 150 is generally sealed, exceptfor a debris outlet 162 that is fluidly coupled to the debris outletchamber 158 and that provides an outlet for debris to be directed out ofthe filter apparatus 120. Generally, the second end 154 of the rod endhousing 150 is mounted to the filter unit 250. Although not shown, thedebris outlet 162 may be fluidly coupled to a separator, a drain, afurther downstream filter apparatus, or any other suitable component ofthe sprayer system 102 for receiving (and/or disposing of) the flow ofdebris from the filter apparatus 120. The second end 154 of the rod endhousing 150 defines a rod opening 164 along the longitudinal axis 121 ofthe plunger unit 140 and a pressure line 166 extending from the rod endhousing 150 that is fluidly coupled to the rod end housing pressurechamber 160, each of which are discussed in greater detail below. In oneexample, the pressure line 166 may be selectively controlled tointroduce pressurized air from the air source 116 (FIG. 2) into the rodend housing pressure chamber 160 or to vent pressurized air from the rodend housing pressure chamber 160, as discussed in greater detail below.

The plunger unit 140 further includes a rod 180 at least partiallyarranged within the rod end housing 150. The rod 180 may be consideredto include a first end 182 arranged within the interior of the rod endhousing 150 and second end 184 arranged within the filter unit 250,discussed below. The rod 180 has an at least partially hollow interiorthat forms a rod debris passage 186. As shown, the first end 182 of therod 180 is enlarged to form a rod seal member 188 that engages the innerwall of the rod end housing 150. As such, the rod seal member 188functions to fluidly isolate the debris outlet chamber 158 from the rodend housing pressure chamber 160 while enabling changes in relativechamber sizes during longitudinal translation of the rod 180. As aresult of this arrangement, the interior of the plunger unit 140 may beconsidered to be formed by effectively three areas: the debris outletchamber 158 of the rod end housing 150 extending between the rod sealmember 188 and the first end 152 of the rod end housing 150; the rod endhousing pressure chamber 160 between the inner walls of the rod endhousing 150 and the outer walls of the rod 180 and between the secondend 154 of the rod end housing 150 and the rod seal member 188; and atleast a portion of the rod debris passage 186 of the rod 180. As shown,the rod debris passage 186 is in fluid communication with the debrisoutlet chamber 158 via an opening 190 extending through the rod sealmember 188, which in turn is in fluid communication with the debrisoutlet 162 in the first end 152 of the rod end housing 150.

A biasing mechanism 192 is positioned within debris outlet chamber 158of the rod end housing interior 156 with a first end pressed against thefirst end 152 of the rod end housing 150 and the second end pressedagainst the rod seal member 188 of the rod 180. As discussed in greaterdetail below, the spring 192 (or other biasing mechanism) functions toprovide a bias to facilitate repositioning of the rod 180 within thefilter apparatus 120. As discussed in greater detail below and inaccordance with many embodiments, the biasing mechanism 192 may be aspring device which functions to provide a mechanical bias to facilitaterepositioning of the rod 180 within the filter apparatus 120. In someother embodiments, the biasing mechanism may include, for example andwithout limitation, an electrical system, a pressure system, a magneticsystem, actuatable motors and drivers, and/or other mechanicalactuators.

As introduced above, the second end 184 of the rod 180 extends into thefilter unit 250. In one example, a plunger assembly 200 is secured tothe second end 184 of the rod 180 and positioned within the filter unit250 to perform the cleaning function discussed below.

Additional reference is now made to FIG. 5, which is an exploded view ofthe plunger assembly 200 and the filter unit 250; FIGS. 7A-7C, which arevarious views of a flow plate 220 of the plunger assembly 200; FIGS.7D-7F, which are various views of a filter unit upper housing 262 of thefilter apparatus 260; FIGS. 7G-7I, which are various views of a flowplate seat device 288 of the filter apparatus 260; and FIGS. 8A and 8B,which are cross-sectional views of the plunger assembly 200 and thefilter unit 250.

As best shown by FIG. 5, the plunger assembly 200 may be considered toinclude an upper support plate 210 and a flow plate 220. The uppersupport plate 210 is formed by an upper support plate body 212 thatdefines an upper support plate central opening 214, at which the uppersupport plate 210 is mounted on the rod 180, and a number of uppersupport plate passages 216 spaced around the upper support plate centralopening 214. Any number of upper support plate passages 216 may beprovided.

As best shown by FIGS. 7A-7C, the flow plate 220 of the plunger assembly200 is formed by upper flow plate section 222, a lower flow platesection 224, and an intermediate flow plate section 226 extendingbetween the upper flow plate section 222 and the lower flow platesection 224, the combination of which collectively forms a central platecavity 232. A mounting flange 234 may circumscribe the central platecavity 232 and extend from the top side of the upper flow plate section222 for mounting the flow plate 220 on the second end 184 of the rod 180with the upper support plate 210. A number of radial flow plate passages228 are defined in the intermediate flow plate section 226. The radialflow plate passages 228 are fluidly coupled to the central plate cavity232, which is in flow communication with the rod debris passage 186, andthus, to the debris outlet chamber 158 and the debris outlet 162.

The flow plate 220 further includes a number of axial flow platepassages 230 that are formed in one, two, or all of the upper flow platesection 222, lower flow plate section 224, and intermediate flow platesection 226. Upon assembly, the axial flow plate passages 230 may bealigned with the upper support plate passages 216. The axial flow platepassages 230 are generally interspersed in between and may be consideredfluidly isolated from the radial flow plate passages 228, as discussedin greater detail below.

The plunger assembly 200 further includes a friction (or squeegee)element 240 positioned on the second end of the rod 180 in between theupper support plate 210 and the flow plate 220. As described below, thefriction element 240 has a perimeter that engages a filter unit screendevice 320 and functions as a friction component during the cleaningevent described below. In one example, the friction element 240 may haveaxial holes that, upon assembly, are aligned with the axial flow platepassages 230 of the flow plate 220 and the upper support plate passages216 of the upper support plate 210. In various examples, the frictionelement 240 may be formed from a sponge material, elastomeric material,or any suitable malleable abrasive material.

As best shown in FIG. 4, the filter apparatus 120 further includes thefilter unit 250 that cooperates with the plunger unit 140. The filterunit 250 generally includes an upper housing 260 and a lower housing280. As described below, the upper and lower housings 260, 280collectively form a filter cavity 310 that generally houses a filterunit screen device 320.

Referring to FIGS. 7D-7F, the filter unit upper housing 260 is formed bya filter unit upper housing base 262 that is generally cylindrical andconfigured to be mounted to the plunger unit 140, particularly to therod end housing 150 of the plunger unit 140. The upper housing base 262may be considered to include an outer upper housing base portion 264 andinner upper housing base portion 266 that are generally concentric toone another with the outer upper housing base portion 264 surroundingthe inner upper housing base portion 266 to at least partially definethe fluid path described below.

The upper housing base 262 defines an upper housing inlet passage 268extending through the inner upper housing base portion 266 and the outerupper housing base portion 264, and further defines an upper housingoutlet passage 270 extending through the outer upper housing baseportion 264. The upper housing base 262 further includes an upperhousing central opening 272 to accommodate the rod 180, and the innerupper housing base portion 266 defines a first primary inlet cavityportion 312, discussed below. The first primary inlet cavity portion 312is fluidly coupled to the upper housing inlet passage 268.

The filter unit upper housing 260 may further be considered to includean upper housing base inlet element 274 mounted to the upper housingbase 262 proximate to the outer upper housing base portion 264 as afitting or coupling to receive primary fluid from the upstream sectionof the sprayer system 102 and is fluidly coupled to the upper housinginlet passage 268. The filter unit upper housing 260 further includes anupper housing base outlet element 276 mounted to the outer upper housingbase portion 264 as a fitting or coupling to provide the filteredprimary fluid to the downstream section of the sprayer system 102 and isfluidly coupled to the upper housing outlet passage 270. As describedbelow, the upper housing inlet passage 268 and upper housing outletpassage 270, along with the filter cavity 310, form a primary flow pathfor fluid flowing through the filter apparatus 120. The upper housing260 further includes upper housing screen device seat 278 that at leastpartially houses and secures the screen device 320, discussed below.

The filter unit lower housing 280 is formed by a filter unit lowerhousing base 282 that, with the upper housing 260, defines at least partof the filter cavity 310. The filter unit housing base 282 has a firstend that is affixed to the upper housing 260 and a second end that isclosed by a filter unit lower housing plate 284. Additionally, andfurther referring to FIGS. 7G-7I, the filter unit lower housing plate284 defines a screen device seat 286 and a flow plate seat device 288,as described below. A filter unit lower housing plate seal 290 may bepositioned within the flow plate seat device 288.

The filter unit upper housing 260 and filter unit lower housing 280 maybe joined together by a first inner sleeve 300 mounted on the outersurface of the upper housing 260, a second inner sleeve 302 mounted onthe outer surface of lower housing 280, and an outer sleeve 304 thatfunctions to secure the first and second inner sleeves 300, 302 to oneanother, thereby securing the upper and lower housings 260, 280 to oneanother.

The filter unit 250 further includes the screen device 320 positionedwithin the filter cavity 310. As best shown by the isolated view of FIG.6, the screen device 320 is generally cylindrical and formed by a framestructure supporting a screen wrapped around the frame structure. Thescreen of the screen device 320 is perforated to enable the flow offluid therethrough but to capture or otherwise prevent the flow ofdebris larger than the perforations through the screen. The screendevice 320 may be considered to include a first (or upper) end orientedtowards the rod end housing 150 and an opposite second (or lower) end.At least the upper end of the screen device 320 is open. As shown in theassembled view of FIG. 4, the upper end of the screen device 320 isseated in the upper housing screen device seat 278 and the lower end ofthe screen device 320 is seated in the lower housing plate screen deviceseat 286.

As described in greater detail below and best shown by thecross-sectional views of FIGS. 8A and 8B, the filter cavity 310 withinthe filter unit 250 may be considered to include the first primary inletcavity portion 312 generally formed within the inner upper housing baseportion 266 of the upper housing 260 (e.g., above the screen device320), a second primary inlet cavity portion 314 generally defined withinthe interior of the screen device 320 (e.g., within the screen device320), and a primary outlet cavity portion 316 generally defined inbetween the exterior of the screen device 320 and the lower housing base282 (e.g., outside of the screen device 320). In effect, and asintroduced above, the internal cavity of the debris passage 186 isisolated from fluid flow within the primary inlet cavity portions 312,314 except through the radial flow plate passages 228 of the plungerassembly 200.

Operation of the filter apparatus 120 will now be described duringtypical operation with reference to FIG. 8A and during a cleaning eventwith reference to FIG. 8B. Further reference is made to FIG. 9, whichdepicts various flows through the plunger assembly 200 as the plungerassembly 200 moves through the filter unit 250 during the cleaningevent.

In some embodiments, during normal or nominal operation (e.g., during anon-cleaning state), air pressure is supplied and maintained, via thepressure line 166, to the rod end housing pressure chamber 160 of therod end housing 150, which operates to press the rod seal member 188 andfirst end 182 of the rod 180 in a first (or upward) direction toward thefirst end 152 of the rod end housing 150. In this position of the rod180, the spring 192 within the debris outlet chamber 158 is compressed.Additionally, and as reflected in the view of FIG. 8A, in this positionof the rod 180, the plunger assembly 200 is positioned within the upperhousing 260 of the filter unit 250 at a position proximate to the upperend of the screen device 320 and proximate to the upper housing screendevice seat 278.

During the nominal operation, primary fluid enters the filter apparatus120 via the upper housing base inlet element 274. At this point, theprimary fluid may include debris. In these embodiments, a flow controlvalve (not shown) may be fluidly coupled to debris outlet 162 and may beclosed when in the nominal position depicted in FIG. 8A, thereby fluidlyisolating debris outlet 162 from the downstream passages and minimizingthe fluid flow through plate passages 228. In this nominal position, theprimary fluid flows from the upper housing base inlet element 274,through the upper housing inlet passage 268, and into the first primaryinlet cavity portion 312. The primary fluid flows from the first primaryinlet cavity portion 312 through the upper support plate passages 216and the axial flow plate passages 230 in the plunger assembly 200 (e.g.,flow arrow 322 of FIG. 8A) into the second primary inlet cavity portion314 within the screen device 320. The debris in the primary fluid isgenerally captured by the screen device 320 on the inner surface as thede-particulated or “filtered” fluid is directed through the screendevice 320 into the primary outlet cavity portion 316 (e.g., flow arrow323 of FIG. 8A). The clean fluid flows from the primary outlet cavityportion 316, through the upper housing outlet passage 270, and out ofthe filter unit 250 through the upper housing base outlet element 276(e.g., flow arrow 324 of FIG. 8A).

Furthermore during nominal operation, as the filter unit 250 continuesto filter primary fluid, the concentration of debris may increase withinthe filter unit 250, particularly within the screen device 320, andeventually may impede primary fluid flow, that is, impede the fluid flowfrom the inlet element 274 to the outlet element 276. As introducedabove, one or more sensors 108, such as sensors 108 a, 108 b, 108 c(FIG. 2), may collect information associated with the filter unit 250,such as pressure readings and flow rates, which are provided to thefilter cleaning module 132 of the controller 104. The filter cleaningmodule 132 of the controller 104 may evaluate this information todetermine a pressure drop at the measured flow rate representing theflow impediment in the screen device 320, thereby indicating when anundesirable amount of debris has accumulated within the screen device320. In response, the filter cleaning module 132 of the controller 104may initiate a cleaning event. As described below, in many embodiments,a cleaning event may involve at least two “segments” correspondingrespectively to two translation directions of the plunger assembly 200through the screen device 320. Some example use instances may include afirst or “primary” segment in which the plunger assembly 200 movesdownward toward the lower housing plate 284 and a second or “return”segment in which the plunger assembly 200 moves upward back toward theupper housing 260. By way of non-limiting, illustrative example, themovement of plunger assembly 200 from that depicted in the view of FIG.8A to that depicted in the view of FIG. 8B may correspond to a primarysegment of the cleaning event, and the movement of the plunger assembly200 from that depicted in the view of FIG. 8B to that depicted in theview of FIG. 8A may correspond to a return segment of the cleaningevent. Other example use instances may include a first or “primary”segment in which the plunger assembly 200, moves upward toward upperhousing 260 and a second or “return” segment in which the plungerassembly 200 moves back downward toward the lower housing plate 284. Byway of non-limiting, illustrative example, the movement of plungerassembly 200 from that depicted in the view of FIG. 8B to that depictedin the view of FIG. 8A may correspond to a primary segment of thecleaning event, and the movement of the plunger assembly 200 from thatdepicted in the view of FIG. 8A to that depicted in the view of FIG. 8Bmay correspond to a return segment of the cleaning event.

Initially, upon initiation of a cleaning event in some examples, theprimary fluid flow may be interrupted, while in other examples, theprimary fluid flow may continue during the cleaning event. Moreover, aflow control valve (not shown) fluidly coupled to the debris outlet 162may be opened, thereby allowing debris fluid to be drawn or jetted intothe radial flow plate passages 228, described below. In someembodiments, to initiate the primary segment of the cleaning event, theair pressure within the rod end housing pressure chamber 160 of the rodend housing 150 is released such that the biasing mechanism192 biasesthe rod 180 in a first (e.g., downward) direction. As the rod 180 movesin the first direction, the plunger assembly 200 moves in the firstdirection, through the length of the screen device 320.

The view of FIG. 9 provides a more detailed indication of fluid anddebris flow during downward movement of the plunger assembly 200 withthe rod 180. During this movement, the friction element 240 of theplunger assembly 200 engages the interior surface of the screen device320 to dislodge debris within the perforations of the screen device 320.As reflected by arrow 241 of FIG. 9, the dislodged debris flows with aportion of the fluid through the radial flow plate passages 228 into therod debris passage 186. As particularly reflected by arrow 242 of FIG.9, the debris flows through the rod debris passage 186, into the debrisoutlet chamber 158, and out of the filter apparatus 120 through thedebris outlet 162. Moreover, primary fluid from second primary inletcavity portion 314 may temporarily flow through passages 230, 216 toenable movement of the of the plunger assembly 200 through the filterunit 250, as reflected by the arrow 243 in FIG. 9. In effect, thefriction element 240, in combination with the upper support plate 210and the flow plate 220, may function to impart high-speed fluid flowalong the inner surface of the screen device 320 to, in some examples,maximize the amount of debris and minimize the amount of fluid thatenter the radial flow plate passages 228 to be removed from the filterapparatus 120.

The plunger assembly 200 extends all the way through the screen device320 during the primary segment of the cleaning event until the plungerassembly 200 reaches the flow plate seat device 288, e.g., at the end ofthe filter unit 250. As noted above, a contact sensor 108 d (FIG. 2) maybe proximate to the flow plate seat device 288 to signal when theplunger assembly 200 completes the primary segment of the cleaningevent, which is reflected by the view of FIG. 8B.

At this point, to initiate the return segment of the cleaning event, theair source 116 (FIG. 2) may be commanded to re-pressurize the rod endhousing pressure chamber 160 to translate the plunger assembly 200 whilealso continuously contacting the screen device 320 with the frictionelement 240 to the position depicted in FIG. 8A, thereby completing thecleaning event. As such, the plunger assembly 200 may dislodge debrisfrom the screen device 320 during each of the primary filter cleaningevent segment and the return filter cleaning event segment or onlyduring the primary filter cleaning event segment.

In some examples, the rate and nature of the venting and pressurizing ofthe rod end housing pressure chamber 160 to translate the rod 180 andthe plunger assembly 200 may be based on a timing schedule. Further, insome examples, the cleaning event may be repeated additional times priorto resuming the primary flow of fluid, if previously interrupted.

In one embodiment and as best represented by FIG. 9, the frictionelement 240 may be considered to have a concave perimeter in which theouter diameter at the upper surface (e.g., toward the upper supportplate 210) is greater than the outer diameter of the lower surface(e.g., toward the flow plate 220). This arrangement provides differentdirectional characteristics of the friction element 240 when interactingwith the screen device 320 as the plunger assembly 200 moves in thefirst direction (e.g., upward, toward the first end 152 of rod endhousing 150) and in the second direction (e.g., downward, toward thefilter unit lower housing plate 284). In particular, this arrangementenables the perimeter of the friction element 240 to bend to a firstdegree in the first direction when the plunger assembly 200 moves in thesecond direction (e.g., downward), and bend to a second degree in thesecond direction when the plunger assembly 200 moves in the firstdirection (e.g., upward). Due to the concave structure of the frictionelement 240, the first degree of bending is smaller than the seconddegree of bending. Stated different, the friction element 240 is stifferwith less movement when moving downward during the primary segment ofthe cleaning event, thereby dislodging more debris from the screendevice 320, and is less stiff when moving upward during the returnsegment of the cleaning event, thereby dislodging less debris from thescreen device 320. In some examples, the friction element 240 may have arelatively flat perimeter (e.g., as opposed to a concave perimeter asdepicted). Additionally, in the depicted example, the upper flow platesection 222 has a relatively shorter diameter as compared to thefriction element 240 and/or the upper support plate body 212. Thisarrangement may further enable the friction element 240 to be stiffer(e.g., moving less) when moving downward during the primary segment ofthe cleaning event and less stiff during the return segment. Generally,the friction element 240, upper flow plate section 222, and/or uppersupport plate body 212 may have a number of different shapes,configurations, bending directions, and travel directions, dependingupon the needs of the particular application.

In a further embodiment, the lower flow plate section 224 may beconfigured with a larger diameter, thus forming a high friction surfacearea between the outer edge of the flow plate section 224 and the innersurface of the filter screen device 320. During such cleaning segments,the high friction surface area may impede flow between the outer edge ofthe flow plate section 224 and the inner surface of the filter screendevice 320, thereby resulting in a local reverse flow effect in whichthe flow path for filtered liquid from filter cavity 310 proximate tothe lower flow plate section 224 is reversed (e.g., directed backthrough the filter device 320 and into radial flow plate passages 228).

An example operation of the filter apparatus 120 is described above,although other arrangements, configurations, and operations may beprovided. For example, the plunger position depicted in FIG. 8B may beconsidered as the nominal (or non-cleaning) position in which airpressure is not supplied to rod end housing pressure chamber 160 duringnominal filtering operation. During this operation, fluid may flow fromupper housing base inlet element 274 through the upper housing inletpassage 268, then the first primary inlet cavity portion 312, directlyinto the second primary inlet cavity portion 314 (e.g., without flowingthrough passages of the plunger assembly 200), then into primary outletcavity portion 316 to potentially capture debris in the interveningfilter, continuing to housing outlet passage 270, and out of the filterunit 250 through the upper housing base outlet element 276 until acleaning event is triggered (e.g., triggered as described above). Inthis example, to initiate a cleaning event, the pressure chamber 160 ispressurized to translate the plunger assembly 200, in a first direction,from seat device 288 to seat 278 as the primary segment, anddepressurization of the pressure chamber for return translation, in asecond direction, via biasing mechanism, from seat 278 to seat 288. Thisde-pressurization may be triggered by a contact sensor. In this example,a control valve may be omitted, since the plunger assembly 200 isfluidly isolated from cavity portions 310, 314, 316 upon being biasedinto seat device 288.

The first nozzle apparatus 122 will now be described with reference toFIGS. 10-20C. Generally, the first nozzle apparatus 122 may be referredto as a “switching nozzle apparatus” in the discussion below, as well asa self-cleaning nozzle apparatus. The switching nozzle apparatus 122generally includes a nozzle unit 350 and an actuator 460 coupledtogether to selectively distribute a fluid and to address clogs ordebris blockages, as discussed in greater detail below. Initialreference is made to FIGS. 10 and 11, which are different isometricviews of the switching nozzle apparatus 122; FIG. 12, which is anexploded view of the switching nozzle unit 350; and FIGS. 13-17C, whichare individual views of various components removed from the switchingnozzle apparatus 122, each of which are discussed below. In thediscussion below, the terms “top” and “bottom” may be used as relativedirections with respect to a longitudinal axis of the primary flowdirection of the switching nozzle apparatus 122, but generally uponassembly, the switching nozzle apparatus 122 may have any spatialorientation.

With particular reference to FIGS. 10-13, the nozzle unit 350 includes asprayer manifold 360 formed by a sprayer manifold base 362 that isgenerally cube-shaped to define a top face 364, a bottom face 366, afirst side face 368, a second side face 370, a first end face 372, and asecond end face 374. A nozzle cavity 376 is formed within the interiorof the sprayer manifold base 362. In one example, the nozzle cavity 376is generally cylindrical and extends between the first end face 372 andthe second end face 374 of the sprayer manifold 360. As discussed ingreater detail below, the sprayer manifold 360 of the nozzle unit 350houses a nozzle holder 410 having a generally cylindrical shapeextending between the first end face 372 and the second end face 374.

As best shown in FIGS. 12 and 13, a fluid inlet seat 378 at leastpartially functioning as a fluid inlet passage is defined in the sprayermanifold base 362 between the top face 364 and the nozzle cavity 376. Afluid outlet passage 380 is defined in the sprayer manifold base 362between the bottom face 366 and the nozzle cavity 376. An air inletpassage 382 is defined in the sprayer manifold base 362 and generallyextends from an air inlet opening 384 in the first end face 372, openingup along the first side face 368, and fluidly coupled to the nozzlecavity 376. An air outlet passage 386 is defined in the sprayer manifoldbase 362 between the second side face 370 and the nozzle cavity 376.

Additional reference is made to the views of FIGS. 14A-140, which depictan isolated view of an inlet plate 390 of the nozzle unit 350 that, uponassembly, is coupled to the sprayer manifold 360. The inlet plate 390 issecured to the top face 364 of the sprayer manifold 360 with one or moremounting flanges 392 that define fastening holes that align withcorresponding fastening holes on the top face 364 to receive fasteners(e.g., screws). As assembled, the inlet plate 390 has an inlet platebody 394 at least partially arranged within the fluid inlet seat 378. Aninlet plate adapter 396 extends from the underside of the inlet platebody 394. Collectively, the inlet plate body 394 and the inlet plateadapter 396 may define an inlet plate passage 398 that extends from aninlet 400 at a top surface (or outward relative to the sprayer manifold360) to an inlet plate outlet 402 on a distal end of inlet plate adapter396. The inlet plate passage 398 may expand from the generally circularfluid inlet 400, to a larger interior cavity within the inlet plate body394 and/or inlet plate adapter 396, and to the inlet plate outlet 402.In one embodiment, relative to the primary orientation of the fluid paththrough the nozzle apparatus 122, the inlet plate outlet 402 may have agenerally oval shape in an axial-radial plane, and curved end surfacesin radial-tangential planes. As described in greater detail below, theinlet plate 390 is positioned to fluidly couple the inlet 400 and theinlet plate passage 398 to the nozzle cavity 376. In particular, thecurved end surfaces of the inlet plate adapter 396 may have shapes thatapproximate the curved cylindrical shape of the nozzle holder 410,discussed below, to enable secure fluid communication in certainrotational positions of the nozzle holder 410.

Additional reference is made to the view of FIG. 15, which depicts anisolated view of a nozzle holder 410 of the nozzle unit 350 that, uponassembly, generally supports a nozzle retainer 440 and nozzle array 450(FIGS. 16A-16C and FIGS. 17A-17C, discussed below) in selectablerotational or pivotal positions within the nozzle cavity 376 of thesprayer manifold 360 to carry out the various functions described below.The nozzle holder 410 may be considered to be formed by a generallycylindrical body 412 having a first end 414, a second end 416, a firstsurface portion 418, and a second surface portion 420. In one example,the first surface portion 418 is located on an opposite side of the body412 as the second surface portion 420.

The nozzle holder 410 has a nozzle holder cavity 428 proximate to thefirst surface portion 418 in which a nozzle seat 422 extends into thebody 412 to a nozzle retainer seat 424. Generally, the nozzle seat 422is a “stepped” surface within the body 412 around the perimeter of thenozzle holder cavity 428 between the first surface portion 418 and thenozzle retainer seat 424. The nozzle retainer seat 424 is an innersurface within the body 412 that defines a nozzle head holder array 426,which is formed by a number of holes that extend to the second surfaceportion 420.

With additional reference to FIGS. 16A-16C, the nozzle unit 350 furtherincludes a nozzle retainer 440 that, upon assembly, is secured into thenozzle holder 410 and particularly includes a nozzle retainer flange 442that is stepped down to a nozzle retainer body 446. The nozzle retainerflange 442 forms a number of fastener holes that may be aligned withcorresponding fastener holes on the nozzle seat 422 to secure the nozzleretainer 440 into the nozzle holder 410 with fasteners (e.g., screws).The nozzle retainer flange 442 further defines a nozzle retainer flangecavity 444 that is circumscribed by the nozzle retainer flange 442. Thenozzle retainer body 446 defines a number of flow passages 448 extendingbetween the nozzle retainer flange cavity 444 and a distal end of thenozzle retainer 440.

With further reference to FIGS. 17A-17C, a nozzle array 450 is generallyformed by a flange base 452 and an array of nozzle elements 454, eacharranged on one side of the flange base 452 and defining series ofnozzle element flow passages 456 with the flange base 452 having nozzleelement inlets proximate to the flange base 452 and nozzle elementoutlets on the distal ends.

Upon assembly, the nozzle array 450 is arranged within the nozzle holder410, particularly such that the nozzle elements 454 are positionedwithin the nozzle head holder array 426 and the flange base 452 issupported by the nozzle retainer seat 424. Upon installation of thenozzle array 450, the nozzle retainer 440 may be inserted into thenozzle holder 410, particularly secured to the nozzle seat 422 such thatthe nozzle retainer 440 maintains the position of the nozzle array 450.Collectively, the nozzle retainer flange cavity 444, the nozzle retainerflow passages 448 and the nozzle element flow passages 456 form acentral or internal partial flow path. As described below, the internalpartial flow path is adjustable within the sprayer manifold 360 bypivoting the nozzle holder 410.

As noted above, in one example, the nozzle retainer 440 and the nozzlearray 450 may be installed into the nozzle holder 410, which in turn maybe inserted into the nozzle cavity 376 of the sprayer manifold 360. Forexample, the nozzle holder 410 (including the nozzle retainer 440 andnozzle array 450) may be inserted through an opening in either end face372, 374 of the sprayer manifold 360. Subsequent to the insertion of thenozzle holder 410, the inlet plate 390 is installed in the sprayermanifold 360 such that the inlet plate adapter 396 is proximate to thenozzle holder 410 within the nozzle cavity 376.

As introduced above and as best shown in FIG. 12, the switching nozzleapparatus 122 further includes the actuator 460 mounted to the nozzleunit 350 with an actuator mount 462 and a support plate (or other typeof structure) 470. Generally, the actuator 460 may be a rotary actuatorsuch as a motor, e.g., an indexing motor, a servo, or a stepper motor,although other types of actuators may be provided. In one example, theactuator mount 462 is secured to the actuator 460 with fasteners (e.g.,screws) extending through corresponding fastening holes on the actuator460 and the actuator mount 462. As shown, the actuator mount 462 may begenerally formed by an H-shaped bracket.

In one example, the support plate 470 is a generally planar structurewith a number of mounting holes that may be aligned to correspondingmounting holes on the actuator mount 462 and the nozzle unit 350. Asbest indicated by the exploded view of FIG. 12, the support plate 470,upon securement to the sprayer manifold 360 of the nozzle unit 350,defines a portion of the air flow path by covering the air inlet passage382. Upon securing fasteners through the mounting holes andcorresponding structure, the actuator 460 may be secured to the nozzleunit 350 via the actuator mount 462.

The actuator 460 may further include a first coupling element 464 on adistal end of a drive shaft 466 extending from the actuator 460. Thenozzle unit 350 may further include a second coupling element 468extending from the first end 414 of the nozzle holder 410 proximate tothe second end face 374 of the sprayer manifold 360. The first couplingelement 464 is secured to the second coupling element 468 such that theactuator 460 may rotationally drive the nozzle holder 410 within thesprayer manifold 360 into the various pivot positions described below.

The rotation of the nozzle holder 410 (and associated internal partialflow path) enables the implementation of one or more functions, whichwill be discussed below with reference to FIGS. 18A-20C. In thediscussion below, FIGS. 18A, 19A, and 20A are side views of theswitching nozzle apparatus 122; FIGS. 18B, 19B, and 20B arecross-sectional views of the switching nozzle apparatus 122; and FIGS.18C, 19C, and 20C are more detailed portions of the cross-sectionalviews of the switching nozzle apparatus 122.

In the description below, the views of FIGS. 18A-18C reflect theswitching nozzle apparatus 122 in the normal or nominal position duringtypical operation to disperse the primary fluid; the views of FIGS.19A-19C reflect the switching nozzle apparatus 122 in a first cleaningposition during a first cleaning event to clear a clog; and the views ofFIGS. 20A-20C reflect the switching nozzle apparatus 122 in a secondcleaning position during a second cleaning event. The switching nozzleapparatus 122 may be commanded into the various positions by the nozzlecleaning module 134. In one example, the switching nozzle apparatus 122may be placed into the first or second cleaning position for a cleaningevent based on implementation of the nozzle monitoring system and methoddiscussed below. In other examples, the switching nozzle apparatus 122may be placed into a cleaning position for a cleaning event based on atiming or usage schedule, or based on an operator request or command.Each of the positions are discussed in greater detail below.

The views of FIGS. 18A-18C reflect a first (or nominal) position of theinternal partial flow path of the nozzle holder 410 for spraying primaryfluid during typical operation. In this position, nozzle holder 410 isoriented to be fluidly coupled to inlet 400 (represented in FIG. 18B indashed lines) and such that the internal flow path within the nozzleholder 410 is aligned with the overall primary fluid flow path, e.g.,such that the nozzle elements 454 are oriented toward the fluid outletpassage 380 on the bottom face 366 of the sprayer manifold 360 of thenozzle unit 350. Also, in the nominal position, the nozzle holder 410functions to block the air inlet passage 382 and the air outlet passage386 within the sprayer manifold 360.

As such, during normal spraying operation, the primary fluid may becommanded or directed through the inlet plate 390 via the inlet platepassage 398. In the nominal position, the inlet plate passage 398 isfluidly coupled to the nozzle retainer 440, particularly the nozzleretainer flange cavity 444 and the nozzle retainer body flow passages448, which in turn, are fluidly coupled to the nozzle element flowpassages 456 of the nozzle array 450. Subsequently, the fluid flows fromthe nozzle array 450 through the aligned fluid outlet passage 380 of thesprayer manifold 360 to exit the nozzle unit 350 and the switchingnozzle apparatus 122.

The views of FIG. 19A-19C reflect a second position of the internalpartial flow path within the nozzle holder 410. In many embodiments, thesecond position may be considered a first cleaning position. Asintroduced above, the nozzle cleaning module 134 of the controller 104typically generates a command to place the nozzle holder 410 of theswitching nozzle apparatus 122 into the first cleaning position uponindication of a clog condition and initiation of a cleaning event. Inparticular, upon identification of a clog condition, the actuator 460receives a command to rotate the nozzle holder 410 to a cleaningposition via the drive shaft 466 and the first and second couplingelements 464, 468. In the first cleaning position, the internal flowpath within the nozzle holder 410 is “clocked” by 90° in a clockwisedirection relative to the nominal position (in the depicted examples) tobe oriented such that the internal partial flow path is perpendicular tothe other portions of the primary fluid flow path. The internal partialflow path is aligned with an air flow path defined with the air inletpassage 382 and the air outlet passage 386, e.g., such that the nozzleelements 454 of the nozzle array 450 are oriented toward the air inletpassage 382 of the first side face 368 of the sprayer manifold 360 ofthe nozzle unit 350. In the first cleaning position, the nozzle holder410 functions to block the inlet plate passage 398 and fluid outletpassage 380. In the first cleaning position, the air inlet passage 382is fluidly coupled to the nozzle retainer 440, particularly the nozzleelement flow passage 456, the nozzle retainer body flow passages 448,and the nozzle retainer flange cavity 444, which in turn, are fluidlycoupled to the air outlet passage 386. In this position, upon command,air pressure may be applied through the air inlet passage 382, throughthe internal partial flow path, and out of the air outlet passage 386and the switching nozzle apparatus 122. In this manner, the air pressurethrough the nozzle flow path may clear a clog or any blockage of debris.

The views of FIGS. 20A-20C reflect a third position of the internalpartial flow path within the nozzle holder 410. In many embodiments, thethird position may be considered a second cleaning position. Asintroduced above, the controller 104 typically generates a command toplace the internal partial flow path within nozzle holder 410 of theswitching nozzle apparatus 122 into the second cleaning position uponindication of a clog condition. In particular, upon identification of aclog condition, the actuator 460 receives a command to rotate the nozzleholder 410 via the drive shaft 466 and the first and second couplingelements 464, 468. In the second cleaning position, nozzle holder 410 is“clocked” by 180° relative to the nominal position such that theinternal partial flow path is aligned with the primary fluid flow path,albeit in a direction opposite to the primary fluid flow path. Incontrast to the nominal position, the nozzle elements 454 of the nozzlearray 450 are oriented toward the top face 364 of the sprayer manifold360 of the nozzle unit 350. In the second cleaning position, the nozzleholder 410 functions to block the air inlet passage 382 and the airoutlet passage 386 within the sprayer manifold 360. Upon command,typically corresponding to nominal or normal spraying operation, thefluid is directed through inlet 400, then to inlet passage 398, throughnozzle opening 454, and out of fluid outlet passage 380, therebyfunctioning to reverse flush nozzle array 450 (e.g., such that anydebris buildup in the nozzle array 450 is passed back out through thegreater diameter nominal inlet).

The second nozzle apparatus 124 will now be described with reference toFIGS. 21-26B. Generally, the second nozzle apparatus 124 may beconsidered a pinching nozzle apparatus, as well as a self-cleaningnozzle apparatus. Initially referring to the isometric views of FIGS. 21and 22 and exploded views of FIGS. 23 and 24, the pinching nozzleapparatus 124 may be considered to include a support bracket 490, afluid manifold 510, a nozzle element 530, an actuator 550, an actuatorgear assembly 560, a pincher gear assembly 580, a first pincher 610, anda second pincher 620. In the discussion below, the terms “above” and“below” may be used as relative directions with respect to alongitudinal axis of flow direction, but generally upon assembly, thepinching nozzle apparatus 124 may have any spatial orientation.

Generally, the support bracket 490 provides a base or mounting structurefor the fluid manifold 510, nozzle element 530, actuator 550, actuatorgear assembly 560, pincher gear assembly 580, first pincher 610, andsecond pincher 620. In particular, the support bracket 490 is aplate-structure that defines a manifold mounting portion 492, actuatoraperture 494, and pincher gear mounting portion 496. In this example,the manifold mounting portion 492 is provided for mounting the fluidmanifold 510 on one side (as a “first side”) of the support bracket 490;the actuator aperture 494 is provided for mounting the actuator 550 onthe other side (as a “second side”) of the support bracket 490; and thepincher gear mounting portion 496 is generally positioned for mountingthe pincher gear assembly 580 on the first side below the manifoldmounting portion 492 and the actuator aperture 494.

The fluid manifold 510 generally includes a manifold base 512 thatdefines a manifold mount 514 that is oriented to be fastened to thesupport bracket 490, particularly the manifold mounting portion 492 ofthe support bracket 490, with any suitable fasteners (e.g., screws). Themanifold base 512 further defines a manifold passage 516 into which afirst end of a manifold passage element 518 may be inserted such that asecond end of the manifold passage element 518 extends out of themanifold passage 516.

The nozzle element 530 is attached to an end of the manifold passageelement 518. In one example, the nozzle element 530 is formed by anozzle element inlet portion 532 and a nozzle element outlet portion534. The nozzle element inlet portion 532 is a sleeve-type structurethat at least partially slides onto the manifold passage element 518 tosecure the nozzle element 530 to the overall pinching nozzle apparatus124. The nozzle element outlet portion 534 flares outward in transversedirections from the distal end of the nozzle element inlet portion 532.In one example, the nozzle element outlet portion 534 is a fan oroval-shaped structure with a long axis extending transversely (e.g.,front to back), perpendicular from the support bracket 490. In otherexamples, the nozzle element outlet portion 534 is a fan or oval-shapedstructure with a long axis extending laterally (e.g., side to side),parallel to the plane of the support bracket 490.

The nozzle element 530, particularly the nozzle element outlet portion534, may be formed by a resilient or flexible material, such as rubberor an elastomer material, that as discussed below, may be deformed tofacilitate the clearance of debris that may otherwise clog the nozzleelement 530 and overall primary flow path. In this example, the flowpath defined by the manifold passage 516, the manifold passage element518, and the nozzle element 530 is generally “downward,” parallel to theorientation of the support bracket 490.

The pinching nozzle apparatus 124 further includes the actuator 550 thatis attached to the second side of the support bracket 490 (e.g., theside opposite to the mounting side of the fluid manifold 510 and nozzleelement 530) such that at least a portion of the actuator 550 extendsthrough the actuator aperture 494. The actuator 550 may be a rotaryactuator such as a motor, e.g., an indexing motor, a servo, or a steppermotor, although other types of actuators may be provided. In thisexample, the actuator 550 includes a drive shaft 552 that projects fromthe base of the actuator 550 through the actuator aperture 494.

The actuator gear assembly 560 is rotationally coupled to a distal endof the drive shaft 552 on an opposite side (e.g., the front side) of thesupport bracket 490 as the actuator 550. In particular, the actuatorgear assembly 560 includes an actuator disk 562 that is rotationallycoupled to the drive shaft 552 and an actuator gear 564 mounted to theactuator disk 562. The actuator gear 564 may be supported on theactuator disk 562 in any suitable manner, including by fasteners such asscrews. As described in greater detail below, the actuator gear 564 isgenerally disk-shaped with a circular or cylindrical row of teethprojecting from a perimeter on a front side of the actuator gear 564.

The pincher gear assembly 580 is generally formed by a first pinchergear 582 and second pincher gear 592 that are actuated cooperatively topinch the nozzle element 530. The first pincher gear 582 is formed byring portion 584 that is mounted to the support bracket 490 with apincher pivot element 586 and a pincher pivot mounting structure 588. Inparticular, a first end of the pincher pivot element 586 is secured tothe support bracket 490 with a fastener (e.g., a screw) and the ringportion 584 is secured to a second end of the pincher pivot element 586with the pincher pivot mounting structure 588. The pincher pivotmounting structure 588 may be at least partially inserted into the ringportion 584 of the first pincher gear 582 such that the first pinchergear 582 is pivotable relative to the pincher pivot element 586 or withthe pincher pivot element 586 relative to the support bracket 490. Thepincher pivot mounting structure 588 may include a screw or fastener, abearing element, and/or a washer to secure the first pincher gear 582while enabling a pivoting movement, as discussed below. As alsodescribed in greater detail below, the ring portion 584 of the firstpincher gear 582 has an outer periphery section with outwardly extendingteeth.

The first pincher gear 582 further includes a pincher element mountportion 590 that generally extends downward from the ring portion 584.As described in greater detail below, the pincher element mount portion590 generally provides a mounting location that supports the firstpincher 610 to pivot with the first pincher gear 582.

The second pincher gear 592 is generally similar to the first pinchergear 582. As such, the second pincher gear 592 is formed by a ringportion 594 that is mounted to the support bracket 490 with a pincherpivot element 596 and a pincher pivot mounting structure 598. Inparticular, a first end of the pincher pivot element 596 is secured tothe support bracket 490 with a fastener (e.g., a screw) and the ringportion 594 is secured to a second end of the pincher pivot element 596with the pincher pivot mounting structure 598. In particular, thepincher pivot mounting structure 598 may be at least partially insertedinto the ring portion 594 of the second pincher gear 592 such that thesecond pincher gear 592 is pivotable relative to the pincher pivotelement 596 or with the pincher pivot element 596 relative to thesupport bracket 490. The second pincher gear 592 further includes apincher element mount portion 600 that generally extends downward fromthe ring portion 594. As described in greater detail below, the pincherelement mount portion 600 generally provides a mounting location thatsupports the second pincher 620 to pivot with the second pincher gear592.

The ring portion 594 of the second pincher gear 592 has an outerperiphery section with outwardly extending teeth. In this example, theteeth of the second pincher gear 592 extend around the periphery of thering portion 594 to a greater extent than that of the ring portion 584of the first pincher gear 582.

Upon assembly, the teeth of the second pincher gear 592 engage both theteeth of the first pincher gear 582 and the teeth of the actuator gearassembly 560. As such, the actuator gear assembly 560 is positioned todrive both of the pincher gears 582, 592. Moreover, since the secondpincher gear 592 is in between the first pincher gear 582 and theactuator gear 564, the actuator gear assembly 560 functions to driveeach of the pincher gears 582, 592 in different directions, as discussedin greater detail below.

As noted above, the first and second pinchers 610, 620 are respectivelymounted on the pincher gears 582, 592. Collectively, and optionally incombination with one or more other cooperating structures or elements,one or more of the pinchers 610, 620 and/or one or more of the pinchergears 582, 592 may be considered a pincher assembly.

Each pincher 610, 620 is formed by pincher base 612, 622 that is securedto the respective pincher gear 582, 592. Each pincher 610, 620 includesa pair of pincher flanges 614, 624 that extend in each direction on theunderside of the pincher base 612, 622 to support the pincher 610, 620.Each pincher base 612, 622 and/or pincher flange 614, 624 may beconsidered to include a concave portion formed by pincher teeth 616, 626on either side of a pincher mouth 618, 628. As shown, the pincher mouth618 of the first pincher 610 is oriented towards the pincher mouth 628of the second pincher 620. During operation, the pinchers 610, 620 maybe selectively pivoted via the pincher gears 582, 592 through a range ofpositions between a first position and a second position (e.g., betweena pinched position and an unpinched position or between a deformedposition and an undeformed position).

As introduced above, the nozzle cleaning module 134 of the controller104 may command a pinching, deformation, resizing, or modification ofthe pinching nozzle apparatus 124, particularly with respect to theeccentricity or shape of the nozzle element 530. In one example, thepinching nozzle apparatus 124 may nominally operate in a pinchedposition, and upon identification of a clogged condition, the nozzlecleaning module 134 may initiate a cleaning event in which the pinchingnozzle apparatus 124 is placed into an unpinched position such that thewidening and/or change in shape releases the clogging debris from thenozzle element 530. In a further example, the pinching nozzle apparatus124 may nominally operate in an unpinched position, and uponidentification of a clogged condition, the nozzle cleaning module 134may initiate a cleaning event in which the pinching nozzle apparatus 124is placed into a pinched position such that the nozzle element 530 isdeformed to break apart and clear the clogging debris from the nozzleelement 530. Either mechanism (e.g., pinching or unpinching) may beused, or such mechanisms may be used in combination to clean the nozzleelement 530.

The pinching nozzle apparatus 124 in the pinched position will now bedescribed with reference to FIG. 25A, which is a side or isometric viewof the pinching nozzle apparatus 124, and FIG. 25B, which is across-sectional view of the pinching nozzle apparatus 124. In thepinched position, the actuator gear 564 and the engaged pincher gearassembly 580 have pivotal positions such that the pincher mouths 618,628 of pinchers 610, 620 engage and deform the nozzle element outletportion 534 of the nozzle element 530. In other words, in this position,the mouths 618, 628 of the pinchers 610, 620 are positioned to have asmaller width than a corresponding undeformed width of the nozzleelement outlet portion 534.

As introduced above, in one example, the nozzle cleaning module 134 ofthe controller 104 may command a cleaning event in response to detectionof a clog, or in accordance with a time schedule or upon manual requestfrom the operator. The movement of the pinching nozzle apparatus 124 inresponse to a command for the cleaning event is depicted by the sideview of FIG. 26A and the cross-sectional view of FIG. 26B. Inparticular, the nozzle cleaning module 134 provides a signal to theactuator 550 to drive the actuator gear 564 in a first direction (e.g.,clockwise), which in turn drives the second pincher gear 592 in anopposite direction (e.g., counter-clockwise), which further drives thefirst pincher gear 582 in the first direction (e.g., clockwise), therebyresulting in the mounted pinchers 610, 620 moving away from one anotherto “unpinch” the nozzle element outlet portion 534. In this position,the pinchers 610, 620 generally surround the nozzle element outletportion 534 so as to not deform the nozzle element outlet portion 534 ofthe nozzle element 530. In other words, in this position, the mouths618, 628 are wider or otherwise approximate the size (e.g., the width)of the nozzle element outlet portion 534. In another example, thepositions of the pinchers 610, 620 may be wider than the pinchedpositions, although still partially deforming the nozzle element 534(e.g., “less pinched”). The resulting repositioning, resizing, andmovement of the nozzle element outlet portion 534 may function todislodge or otherwise allow passage of debris through the nozzle element530, thereby clearing any clogs or potential clogs.

After unpinching of the nozzle element outlet portion 534, reflected inFIGS. 26A and 26B, the actuator 550 may be commanded to return thepinchers 610, 620 to the pinched position. In other words, the actuator550 may drive the actuator gear 564 in the second direction (e.g.,counter-clockwise), which in turn drives the second pincher gear 592 inthe first direction (e.g., clockwise), which further drives the firstpincher gear 582 in the second direction (e.g., counter-clockwise),thereby resulting in the mounted pinchers 610, 620 moving toward oneanother to again “pinch” the nozzle element outlet portion 530. In someembodiments, the pinching and releasing of the nozzle element outletportion 534 may be repeated multiple times.

Although referenced above as being commanded by the nozzle cleaningmodule 134, the pinching nozzle apparatus 124 may also be used to setand/or modify a spray pattern of fluid through the nozzle element 530.In this context, the nozzle cleaning module 134 may further beconsidered a nozzle adjustment module and/or the controller 104 mayadditionally include a separate nozzle adjustment module such that thecontroller 104 may actively control spray patterns. Such spray patternsmay be set and/or modified in order to enhance the efficacy of thesprayer system 102, for example, based on crop, spraying purpose, and/orfluid application conditions (terrain, weather, speed, and the like). Inparticular, the pinching nozzle apparatus 124 may provide a first spraypattern when the pinchers 610, 620 are placed in the pinched position(as discussed above), such as a more focused or tighter spray pattern;and the pinching nozzle apparatus 124 may provide a second spray patternwhen the pinchers 610, 620 are placed in the unpinched position (asdiscussed above), such as a more diffuse or wider spray pattern. Infurther examples, the pinching nozzle apparatus 124 may provideadditional spray patterns by placing the pinchers 610, 620 inintermediate or partially pinched positions.

In the depicted example and as noted above, the nozzle element outletportion 534 flares outward as a fan or oval-shape. However, any suitablecross-sectional shape may be provided. In one example, the nozzleelement outlet portion 534 may have a circular shape, e.g., with aneccentricity ratio of zero, in an unpinched position. In such anexample, the pinching nozzle apparatus 124 may be commanded to othereccentricity ratios, including those between zero and one, in pinchedpositions in order to provide a desired spray pattern; and/or thepinching nozzle apparatus 124 may be initially commanded to a non-zeroeccentricity ratio for nominal operation and then released to a zeroeccentricity ratio in order to release debris that may be clogging thepinching nozzle apparatus 124 (or vice versa).

Aspects of the sprayer system 102 and the nozzle apparatuses 122, 124may be considered within the context of a nozzle monitoring system thatoperates to monitor the sprayer system 102 for a partially or fullyclogged nozzle element (generally, a “clogged nozzle element”) and, ifnecessary or desired, generate a command to the appropriate nozzleapparatus 122, 124 to perform a cleaning event (examples of which aredetailed above) to remove or mitigate the debris of the cloggedrespective nozzle element. As such, the nozzle monitoring system may beconsidered to be an aspect of the sprayer system 102 and particularlyinclude the nozzle cleaning module 134 of the controller 104, one ormore of the sensors 108, and/or one or more of the nozzle apparatuses122, 124.

The monitoring operation of the nozzle cleaning module 134 will now bedescribed in greater detail below with reference to FIG. 27, whichdepicts a flowchart of a method 700 for monitoring and cleaning a nozzleelement (e.g., a nozzle element of one or more of the nozzle apparatuses122, 124). The method 700 is described below within the context of asingle nozzle element. However, the method 700 may be implemented withrespect to a number of nozzle elements, either simultaneously, withinsome type of sequence, or a mixture thereof. Moreover, the method 700may be implemented continuously, on demand, and/or according to a time,distance, or usage schedule. In the discussion below, the method 700 isdescribed as being performed or facilitated by the nozzle cleaningmodule 134 (e.g., instructions stored in the memory 136 b executed bythe processor 136 a), although other processing mechanisms may beprovided.

With reference to the method 700 of FIG. 27, in an initial step 702, asensor (e.g., piezoelectric sensor 108 f, 108 h) proximate to the nozzleelement may collect or generate signals associated with the vibration inthe form of audio signatures such as waveforms generated primarily bythe respective nozzle element. In effect, the sensors record thevibrations associated with the operating nozzle elements. The signalsare provided to the nozzle cleaning module 134 for evaluation of thewaveforms and subsequently generating a response to the evaluation,e.g., initiating and implementing a cleaning event as discussed above.

In step 704, the waveforms are converted or otherwise expressed by thenozzle cleaning module 134 into time domain frames of audiorepresentations or audio data files. In effect, the analog signals fromthe sensor of step 702 may be transformed into digital signals in step704. As an example, the waveforms may be expressed as amplitudes of thedetected vibrations over a span of time as a duration according to asampling rate. One or more such waveforms may be collected and furtherprocessed according to step 706.

The duration and/or sampling rate may be static or dynamic, and may beadjusted and/or set based on vehicle conditions, such as to avoidcollecting data around other known noise generating events impactingnominal nozzle performance, e.g. pump pressure spikes, low pressureevents, valve closures, and engine throttles. Generally, the signalsshould be collected in a way that improves signal to noise ratio withrespect to the nozzle relative to all other sources. Typically, thelonger the duration, the less sensitivity to nozzle fluctuations causedby intermittent pressure changes, valve openings and other temporarynozzle issues, but the longer durations may require more time to detectclogs or nozzle issues. In one example, the duration may beapproximately two seconds.

In step 706, the time domain frames are converted by the nozzle cleaningmodule 134 into one or more frequency domain representations, each ofwhich may be defined by a frequency scale and an amplitude scale. In oneexample, the frequency domain representation may be generated by aFourier transform that expresses the frequency domain representation asfunctions of time. Such Fourier transform may be, for example, adiscrete Fourier transform (DFT) or a fast Fourier transform (FFT).

In step 708, the frequency domain representation is mapped or warped bythe nozzle cleaning module 134 onto Mel-frequency cepstrum scale (MFC)spectrograms. In one example, log functions of the amplitudes of thefrequency domain representation are determined and then mapped onto theMFC scale using triangular overlapping windows to generate the MFCspectrograms.

In step 710, a cosine transformation is performed on the MFC spectrogramby the nozzle cleaning module 134 to produce an image of MFCcoefficients. In one example, step 710 is implemented by taking the logfunctions of the powers at each Mel-frequency and performing a discretecosine transform of the collection of Mel log powers to establish theMFC coefficients. In other words, the amplitudes of the discrete cosinetransformations are the MFC coefficients, which may be represented as animage. It is contemplated that the cosine transformation hides nuancesof the MFC spectrogram and enhances audio power distribution of desiredfrequencies. The mathematical portions of steps 708 and/or 710 may beimplemented with any suitable processing package or library, such as theLibROSA package that facilitates the extraction of features from audiosignals.

As noted, in one example of step 710, the MFC coefficients may berepresented by an image, particularly a two-dimensional MFC coefficientimage of the frequency domain audio representation of the vibrationsignatures. One example of the MFC coefficient image is provided by theimage 740 of FIG. 28 in which the MFC coefficients are represented on avertical axis 744 as a function of time on the horizontal axis 742. Inthis example, the one-dimensional MFC coefficients are recorded over acollection of samples for a two second recording window to generate thetwo-dimensional array expressed by the image 740 of FIG. 28. In effect,the MFC coefficients are represented within the MFC coefficient image740 of FIG. 28 as relative intensity values that may be furtherconsidered in the steps below.

Generally, regarding steps 708 and 710, each MFC spectrogram representsthe short-term power spectrum of a sound based on a linear cosinetransform of a log power spectrum on a nonlinear Mel-based scale offrequency; and the MFC coefficients that collectively make up the MFCspectrogram are derived from a type of cepstral representation of theaudio clip (e.g., a nonlinear “spectrum-of-a-spectrum”). It is furthercontemplated that the difference between a cepstrum-only basedspectrogram as compared to the MFC spectrogram is that the frequencybands are equally spaced on the Mel-based scale, which approximates ahuman auditory system response more closely than the linearly-spacedfrequency bands used in the normal cepstrum. As such, this frequencywarping may allow for better representation of human auditory sound. Inother words, the MFC spectrograms may better represent the sound that anoperator would “hear” from the nozzle elements. This attribute may berelevant in the context of operator experiences in which the operatorsbelieve one can “hear” the difference between a clogged nozzle elementand a clear nozzle element, if such elements can be isolated oraccessed. As such, it is contemplated that mapping of the data into theMFC spectrograms provides a representation that better simulates humanhearing and may provide better results.

In step 712, the MFC coefficient images considered by the nozzlecleaning module 134 are submitted to image classification and/orrecognition (generally, “classification”) in order to generate a clogcondition probability for the respective nozzle element. Theclassification may be executed by a neural network, particularly aconvolutional neural network (CNN) in one example. That is, the MFCcoefficient images are applied through a convolutional neural network toclassify nozzle types and/or detected nozzle clogs, as will be describedin greater below.

In step 714, the nozzle cleaning module 134 evaluates the clog conditionprobability to determine if a clog condition is present. In one example,the clog condition is declared if the clog condition probability exceedsor is equal to a predetermined clog condition threshold, and a clogcondition is not declared if the clog condition probability is less thanthe predetermined clog condition threshold. The establishment of one ormore suitable predetermined clog condition thresholds is discussed ingreater detail below.

If a clog condition is declared in step 714, the method proceeds to step716 in which the nozzle cleaning module 134 generates a command toimplement a cleaning event for the respective nozzle element. As anexample, the nozzle cleaning module 134 may generate a command toimplement a cleaning event for the switching nozzle apparatus 122 inwhich the internal partial flow path is pivoted to receive a cleaningair flow and/or fluid flow to dislodge and remove debris of a clog.Additionally or alternatively, the generated command may implement acleaning event for the pinching nozzle apparatus 124 in which a nozzleelement is pinched by cooperating pinchers to dislodge and remove debrisof a clog.

If a clog condition is not identified in step 714, the method proceedsto step 718 in which no command for a cleaning event is generated by thenozzle cleaning module 134. Subsequently, the nozzle cleaning module 134may continue to monitor the respective nozzle element according to thepreceding steps to declare a cleaning event if and/or when the clogcondition occurs.

In one example, the method 700 includes the steps 702, 704, 706, 708,710, 712, 714, and 716 in order to monitor the nozzle elements. In otherexamples, additional steps may be also be implemented with the method700 to improve the monitoring of the nozzle elements. In particular, thenozzle cleaning module 134 may consider additional information in step712, and such data may be represented by additional MFC coefficientimages generated by steps 720, 722, 724, 726, and 728 in FIG. 27. In thediscussion below, the MFC coefficient images provided by steps 702, 704,706, 708, and 710 may be considered “nozzle MFC coefficient images” andMFC coefficient images provided by steps 720, 722, 724, 726, and 728 maybe considered “baseline MFC coefficient images,” referring to therelative proximity of the sensor on which the image is based to thenozzle element.

Generally, in step 720, a sensor (e.g., piezoelectric sensor 108 e, 108g) that is not proximate to the respective nozzle element may collect orgenerate signals associated with an audio signature in the form of awaveform generated on the work vehicle 100 away from the respectivenozzle element. In effect, the sensor in step 720 collects waveformsthat may be considered baseline waveforms of audio signatures that maybe provided to the nozzle cleaning module 134 for evaluation. Suchbaseline waveforms may facilitate the distinction between backgroundnoise on the work vehicle 100 and noise originating from the nozzleelements. Further, the steps 722, 724, 726, and 728 are respectivelyanalogous to steps 704, 706, 708, and 710 in which the waveforms areconverted into an image of MFC coefficients that represents the baselinewaveforms, e.g., as a “baseline MFC coefficient image.” Subsequently,the baseline MFC coefficient images of step 728 may be considered by theneural network of step 712, introduced above, as additional informationto increase confidence in the clog condition probability generated fromthe nozzle MFC coefficient images from step 710. In other words, theclog condition probability in step 712 may be considered with or withoutthe baseline MFC coefficient images resulting from a combination ofsteps 722, 724, 726, and 728. In some examples, the baseline MFCcoefficient images may enable the neural network of step 712 to considerand in effect “remove” the impact of background noise that does notreflect the condition of the respective nozzle element.

As appearing herein and generally referring to step 712, the term“neural network” algorithm refers to a computer-readable program havinga structure composed of multiple layers of interconnected nodes orneurons. The particular structure of a utilized neural network algorithmmay vary between embodiments of the present disclosure, noting thatseveral types of neural network algorithms currently exist (including,for example, convolutional neural networks well-suited for imageprocessing as pertinent to several of the work machine applicationsmentioned herein) and additional neural network types continue to bedeveloped. Generally, a neural network algorithm may include an inputlayer into which data is fed (e.g., the nozzle MFC coefficient imagesand/or the baseline MFC coefficient images respectively corresponding tothe nozzle and baseline audio waveforms captured by sensors 108 onboardthe work vehicle 100); a final output layer at which processing resultsappear; and any number of hidden layers between the input and outputlayers. Each node contained in a given layer of the neural networkalgorithm may be connected to some, if not all of the nodes in asubsequent network layer, thereby forming a processing structure looselyakin to a biological neural network. Prior to implementing the neuralnetwork during “live” operation, the neural network may be “trained” byinputting MFC coefficient images that reflect known clogged conditionsand MFC coefficient images that reflect known unclogged conditions.Additionally, the behavior or performance of a neural network algorithmmay be modified by adjusting certain parameters associated with thenodes and connections of the neural network, including the activationstrength or “weight” between node-to-node connections and, in manycases, an inactivity bias assigned to each node. Through iterativelyintroduction of such known images and associated conditions andmodifying such parameters using feedback data, the neural networkalgorithm may be trained to improve the algorithm performance; that is,the tendency of the algorithm to provide a correct or desired resultacross a range input data set. Such training may be considered “machinelearning” when largely automated by providing the neural networkalgorithm with feedback data (which may be expressed using costfunctions, as an example), with the neural network algorithm or anassociated algorithm iteratively adjusting the network parameters (e.g.,node-to-node weights and inactivity biases) without reliance or with areduced reliance on direct human programming, to gradually improve theperformance of the neural network algorithm.

As part of, or independently of, the training of the neural networkalgorithm, one or more suitable clog condition thresholds may beestablished for initiation of a cleaning event. In other words, suchclog condition thresholds may be empirically or observationallyestablished in order to provide the desired or appropriate amount ofcleaning events (e.g., to avoid implementing cleaning events too oftenwhen otherwise unnecessary or too infrequently when otherwisenecessary). In some examples, the clog condition thresholds may be setand/or adjustable by the operator or user.

In one example, the nozzle MFC coefficient images from step 710 may beprocessed with a convolutional neural network in step 712 withoutconsideration of the baseline MFC coefficient images from step 728. Inother words, steps 720, 722, 724, 724, 726, 728 may be consideredoptional. However, in other examples, the nozzle MFC coefficient imagesfrom step 710 and baseline MFC coefficient images from step 728 may beprocessed in conjunction with one another within a convolutional neuralnetwork in step 712 in order to provide a higher accuracy and lowertraining time than other mechanisms, some of which are discussed below.

During implementation of step 712, the nozzle MFC coefficient images andthe baseline MFC coefficient images, representing the two audiosignature sources, may be generated independently or simultaneously. Inone example, the convolutional neural network structure may havemultiple convolutional layers (e.g., three layers) and multipledownstream dense layers (e.g., two layers). The convolutional layers maybe are applied to the nozzle MFC coefficient images and baseline MFCcoefficient images individually, and the results of the convolutionallayers may be combined and collectively processed according to the denselayers, thereby yielding a clog condition probability for step 712.

Returning to step 714, as above, the nozzle cleaning module 134 mayevaluate the clog condition probability. Again, if the clog conditionprobability exceeds a clog condition threshold, the method 700 proceedsto step 716 to initiate a cleaning event; and if the clog conditionprobability fails to exceed the clog condition threshold, the method 700proceeds to step 718 in which a cleaning event is not initiated and thenozzle elements continue to be monitored. As introduced above, such aclog condition threshold may be established empirically or set by theuser or operator; and in some examples, the clog condition threshold maybe adjusted or modified by the user or operator.

In some examples, the results of steps 716 and 718 may be communicatedto operator in any suitable manner. As one example, FIG. 29 depicts arelatively simple display 750 (e.g., corresponding to a display deviceof operator interface 106 of FIG. 2) in which status indicator 752, 754(e.g., a light or other suitable mechanism for conveying status) areprovided for one or more of the nozzle elements of a work vehicle. Inthe depicted example, the status indicator 752 is active, therebyindicating that the associated nozzle element is clogged and/or that theassociated nozzle element is undergoing a cleaning event; and statusindicator 754 is inactive, thereby indicating that the associated nozzleelement is not clogged.

Although at least one mechanism for identifying clog conditions isdiscussed above with reference to FIG. 27, other mechanisms mayadditionally be provided for identifying a clog condition, includingthose discussed below as potential modifications to the method 700 ofFIG. 27. For example, a frequency analysis may be applied to thefrequency domain representation of step 706 in order to identify a clogcondition. In particular, the frequency domain representation may beconsidered to identify and isolate unique peaks that may be comparedagainst baseline peaks to identify a clog condition. As another example,a “k-nearest neighbor” model may be applied to the frequency domainrepresentation of step 706 in which an algorithm considers all availablecases and classifies new cases based on a similarity measure (e.g.,distance functions) in order to provide a statistical estimation orpattern recognition in order to identify a clog condition.

Accordingly, embodiments discussed herein provide systems and methods tomonitor, evaluate, and address clog and debris issues within a sprayersystem of a work vehicle.

Also, the following examples are provided, which are numbered for easierreference.

1. A nozzle monitoring system for a sprayer system of a work vehiclecomprising: a first sensor configured to generate signals associatedwith vibrations of a first nozzle apparatus on the work vehicle thatdisperses a primary fluid from the sprayer system during operation; anda controller having a processor receiving the signals generated by thefirst sensor and having a memory coupled to the processor and storinginstructions, the processor executing the stored instructions to:convert the vibrations into a frequency domain representation; generatean image from the frequency domain representation; classify the image togenerate a clog condition probability; and generate, based on the clogcondition probability, a command to initiate a cleaning event of thefirst nozzle apparatus.

2. The nozzle monitoring system of example 1, wherein the controller isfurther configured to convert the vibrations into time domain frames andto subsequently convert the time domain frames into the frequency domainrepresentation.

3. The nozzle monitoring system of example 2, wherein the controller isfurther configured to convert the time domain frames into the frequencydomain representation with a Fourier transform.

4. The nozzle monitoring system of example 3, wherein the controller isfurther configured to, prior to generating the image, wrap the frequencydomain representation onto a Mel-frequency cepstrum scale (MFC)spectrogram.

5. The nozzle monitoring system of example 4, wherein the controller isfurther configured to generate the image by performing a cosinetransformation on the MFC spectrogram.

6. The nozzle monitoring system of example 5, wherein the controller isfurther configured to generate the image as an MFC coefficient image byperforming the cosine transformation on the MFC spectrogram, identifyingamplitudes of the cosine transformation, and expressing the amplitudesas MFC coefficients over time.

7. The nozzle monitoring system of example 6, wherein the controller isfurther configured to classify the MFC coefficient image with a neuralnetwork.

8. The nozzle monitoring system of example 7, wherein the MFCcoefficient image generated based on the signals from the first sensoris a nozzle MFC coefficient image, wherein the nozzle monitoring systemfurther comprises a second sensor positioned at a distance from thefirst nozzle apparatus and configured to generate signals associatedwith vibrations of the work vehicle during operation; and wherein thecontroller is further configured to receive the signals from the secondsensor, to generate a baseline MFC coefficient image based on thesignals from the second sensor, and to classify the nozzle MFCcoefficient image with the baseline MFC coefficient image to generatethe clog condition probability.

9. The nozzle monitoring system of example 8, wherein the controller isfurther configured to classify the MFC coefficient image with the neuralnetwork as a convolution neural network.

10. The nozzle monitoring system of example 1, wherein the first sensoris a piezoelectric sensor.

11. A sprayer system for dispersing a primary fluid on a work vehicle,comprising: at least a first nozzle apparatus configured to disperse theprimary fluid and to execute a cleaning event; a first sensor configuredto generate signals associated with vibrations of the first nozzleapparatus during operation; and a controller having a processorreceiving the signals generated by the first sensor and having a memorycoupled to the processor and storing instructions, the processorexecuting the stored instructions to: convert the vibrations into afrequency domain representation; generate an image from the frequencydomain representation; classify the image with a neural network togenerate a clog condition probability; compare the clog conditionprobability to a clog condition threshold; and generate, when the clogcondition probability meets or exceeds the clog condition threshold, acommand to initiate the cleaning event of the first nozzle apparatus.

12. The sprayer system of example 11, wherein the controller is furtherconfigured to convert the vibrations into time domain frames, tosubsequently convert the time domain frames into the frequency domainrepresentation, and to convert the time domain frames into the frequencydomain representation with a Fourier transform.

13. The sprayer system of example 13, wherein the controller is furtherconfigured to, prior to generating the image, wrap the frequency domainrepresentation onto a Mel-frequency cepstrum scale (MFC) spectrogram,and wherein the controller is further configured to generate the imageby performing a cosine transformation on the MFC spectrogram.

14. The sprayer system of example 13, wherein the controller is furtherconfigured to generate the image as an MFC coefficient image byperforming the cosine transformation on the MFC spectrogram, identifyingamplitudes of the cosine transformation, and expressing the amplitudesas MFC coefficients over time

15. The sprayer system of example 14, wherein the controller is furtherconfigured to classify the MFC coefficient image with the neural networkas a convolutional neural network.

As will be appreciated by one skilled in the art, certain aspects of thedisclosed subject matter can be embodied as a method, system (e.g., awork machine control system included in a work machine), or computerprogram product. Accordingly, certain embodiments can be implementedentirely as hardware, entirely as software (including firmware, residentsoftware, micro-code, etc.) or as a combination of software and hardware(and other) aspects. Furthermore, certain embodiments can take the formof a computer program product on a computer-usable storage medium havingcomputer-usable program code embodied in the medium.

As will be appreciated by one skilled in the art, aspects of thedisclosed subject matter can be described in terms of methods, systems(e.g., control or display systems deployed onboard or otherwise utilizedin conjunction with work machines), and computer program products. Withrespect to computer program products, in particular, embodiments of thedisclosure may consist of or include tangible, non-transitory storagemedia storing computer-readable instructions or code for performing oneor more of the functions described throughout this document. As will bereadily apparent, such computer-readable storage media can be realizedutilizing any currently-known or later-developed memory type, includingvarious types of random-access memory (RAM) and read-only memory (ROM).Further, embodiments of the present disclosure are open or “agnostic” tothe particular memory technology employed, noting that magnetic storagesolutions (hard disk drive), solid state storage solutions (flashmemory), optimal storage solutions, and other storage solutions can allpotentially contain computer-readable instructions for carrying-out thefunctions described herein. Similarly, the systems or devices describedherein may also contain memory storing computer-readable instructions(e.g., as any combination of firmware or other software executing on anoperating system) that, when executed by a processor or processingsystem, instruct the system or device to perform one or more functionsdescribed herein. When locally executed, such computer-readableinstructions or code may be copied or distributed to the memory of agiven computing system or device in various different manners, such asby transmission over a communications network including the Internet.Generally, then, embodiments of the present disclosure should not belimited to any particular set of hardware or memory structure, or to theparticular manner in which computer-readable instructions are stored,unless otherwise expressly specified herein

As used herein, the term module refers to any hardware, software,firmware, electronic control component, processing logic, and/orprocessor device, individually or in any combination, including withoutlimitation: application specific integrated circuit (ASIC), anelectronic circuit, a processor (shared, dedicated, or group) and memorythat executes one or more software or firmware programs, a combinationallogic circuit, and/or other suitable components that provide thedescribed functionality. Embodiments of the present disclosure may bedescribed herein in terms of functional and/or logical block componentsand various processing steps. It should be appreciated that such blockcomponents may be realized by any number of hardware, software, and/orfirmware components configured to perform the specified functions. Forexample, an embodiment of the present disclosure may employ variousintegrated circuit components, e.g., memory elements, digital signalprocessing elements, logic elements, look-up tables, or the like, whichmay carry out a variety of functions under the control of one or moremicroprocessors or other control devices. In addition, those skilled inthe art will appreciate that embodiments of the present disclosure maybe practiced in conjunction with any number of work vehicles.

A computer readable signal medium can include a propagated data signalwith computer readable program code embodied therein, for example, inbaseband or as part of a carrier wave. Such a propagated signal can takeany of a variety of forms, including, but not limited to,electro-magnetic, optical, or any suitable combination thereof. Acomputer readable signal medium can be non-transitory and can be anycomputer readable medium that is not a computer readable storage mediumand that can communicate, propagate, or transport a program for use byor in connection with an instruction execution system, apparatus, ordevice.

As used herein, unless otherwise limited or modified, lists withelements that are separated by conjunctive terms (e.g., “and”) and thatare also preceded by the phrase “one or more of” or “at least one of”indicate configurations or arrangements that potentially includeindividual elements of the list, or any combination thereof. Forexample, “at least one of A, B, and C” or “one or more of A, B, and C”indicates the possibilities of only A, only B, only C, or anycombination of two or more of A, B, and C (e.g., A and B; B and C; A andC; or A, B, and C).

As used herein, the term module refers to any hardware, software,firmware, electronic control component, processing logic, and/orprocessor device, individually or in any combination, including withoutlimitation: application specific integrated circuit (ASIC), anelectronic circuit, a processor (shared, dedicated, or group) and memorythat executes one or more software or firmware programs, a combinationallogic circuit, and/or other suitable components that provide thedescribed functionality. The term module may be synonymous with unit,component, subsystem, sub-controller, circuitry, routine, element,structure, control section, and the like.

Embodiments of the present disclosure may be described herein in termsof functional and/or logical block components and various processingsteps. It should be appreciated that such block components may berealized by any number of hardware, software, and/or firmware componentsconfigured to perform the specified functions. For example, anembodiment of the present disclosure may employ various integratedcircuit components, e.g., memory elements, digital signal processingelements, logic elements, look-up tables, or the like, which may carryout a variety of functions under the control of one or moremicroprocessors or other control devices. In addition, those skilled inthe art will appreciate that embodiments of the present disclosure maybe practiced in conjunction with any number of work vehicles.

For the sake of brevity, conventional techniques related to signalprocessing, data transmission, signaling, control, and other functionalaspects of the systems (and the individual operating components of thesystems) may not be described in detail herein. Furthermore, theconnecting lines shown in the various figures contained herein areintended to represent example functional relationships and/or physicalcouplings between the various elements. It should be noted that manyalternative or additional functional relationships or physicalconnections may be present in an embodiment of the present disclosure.

Aspects of certain embodiments are described herein can be describedwith reference to flowchart illustrations and/or block diagrams ofmethods, apparatus (systems) and computer program products according toembodiments of the invention. It will be understood that each block ofany such flowchart illustrations and/or block diagrams, and combinationsof blocks in such flowchart illustrations and/or block diagrams, can beimplemented by computer program instructions. These computer programinstructions can be provided to a processor of a general purposecomputer, special purpose computer, or other programmable dataprocessing apparatus to produce a machine, such that the instructions,which execute via the processor of the computer or other programmabledata processing apparatus, create means for implementing thefunctions/acts specified in the flowchart and/or block diagram block orblocks.

These computer program instructions can also be stored in acomputer-readable memory that can direct a computer or otherprogrammable data processing apparatus to function in a particularmanner, such that the instructions stored in the computer-readablememory produce an article of manufacture including instructions whichimplement the function/act specified in the flowchart and/or blockdiagram block or blocks.

The computer program instructions can also be loaded onto a computer orother programmable data processing apparatus to cause a series ofoperational steps to be performed on the computer or other programmableapparatus to produce a computer implemented process such that theinstructions which execute on the computer or other programmableapparatus provide steps for implementing the functions/acts specified inthe flowchart and/or block diagram block or blocks.

Any flowchart and block diagrams in the figures, or similar discussionabove, can illustrate the architecture, functionality, and operation ofpossible implementations of systems, methods and computer programproducts according to various embodiments of the present disclosure. Inthis regard, each block in the flowchart or block diagrams can representa module, segment, or portion of code, which comprises one or moreexecutable instructions for implementing the specified logicalfunction(s). It should also be noted that, in some alternativeimplementations, the functions noted in the block (or otherwisedescribed herein) can occur out of the order noted in the figures. Forexample, two blocks shown in succession (or two operations described insuccession) can, in fact, be executed substantially concurrently, or theblocks (or operations) can sometimes be executed in the reverse order,depending upon the functionality involved. It will also be noted thateach block of any block diagram and/or flowchart illustration, andcombinations of blocks in any block diagrams and/or flowchartillustrations, can be implemented by special purpose hardware-basedsystems that perform the specified functions or acts, or combinations ofspecial purpose hardware and computer instructions.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the disclosure.As used herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising,” when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof.

The description of the present disclosure has been presented forpurposes of illustration and description, but is not intended to beexhaustive or limited to the disclosure in the form disclosed. Manymodifications and variations will be apparent to those of ordinary skillin the art without departing from the scope and spirit of thedisclosure. Explicitly referenced embodiments herein were chosen anddescribed in order to best explain the principles of the disclosure andtheir practical application, and to enable others of ordinary skill inthe art to understand the disclosure and recognize many alternatives,modifications, and variations on the described example(s). Accordingly,various embodiments and implementations other than those explicitlydescribed are within the scope of the following claims.

What is claimed is:
 1. A nozzle monitoring system for a sprayer systemof a work vehicle comprising: a first sensor configured to generatesignals associated with vibrations of a first nozzle apparatus on thework vehicle that disperses a primary fluid from the sprayer systemduring operation; and a controller having a processor receiving thesignals generated by the first sensor and having a memory coupled to theprocessor and storing instructions, the processor executing the storedinstructions to: convert the vibrations into a frequency domainrepresentation generate an image from the frequency domainrepresentation; classify the image to generate a clog conditionprobability; and generate, based on the clog condition probability, acommand to initiate a cleaning event of the first nozzle apparatus. 2.The nozzle monitoring system of claim 1, wherein the controller isfurther configured to convert the vibrations into time domain frames andto subsequently convert the time domain frames into the frequency domainrepresentation.
 3. The nozzle monitoring system of claim 2, wherein thecontroller is further configured to convert the time domain frames intothe frequency domain representation with a Fourier transform.
 4. Thenozzle monitoring system of claim 3, wherein the controller is furtherconfigured to, prior to generating the image, wrap the frequency domainrepresentation onto a Mel-frequency cepstrum scale (MFC) spectrogram. 5.The nozzle monitoring system of claim 4, wherein the controller isfurther configured to generate the image by performing a cosinetransformation on the MFC spectrogram.
 6. The nozzle monitoring systemof claim 5, wherein the controller is further configured to generate theimage as an MFC coefficient image by performing the cosinetransformation on the MFC spectrogram, identifying amplitudes of thecosine transformation, and expressing the amplitudes as MFC coefficientsover time.
 7. The nozzle monitoring system of claim 6, wherein thecontroller is further configured to classify the MFC coefficient imagewith a neural network.
 8. The nozzle monitoring system of claim 7,wherein the MFC coefficient image generated based on the signals fromthe first sensor is a nozzle MFC coefficient image, wherein the nozzlemonitoring system further comprises a second sensor positioned at adistance from the first nozzle apparatus and configured to generatesignals associated with vibrations of the work vehicle during operation;and wherein the controller is further configured to receive the signalsfrom the second sensor, to generate a baseline MFC coefficient imagebased on the signals from the second sensor, and to classify the nozzleMFC coefficient image with the baseline MFC coefficient image togenerate the clog condition probability.
 9. The nozzle monitoring systemof claim 8, wherein the controller is further configured to classify theMFC coefficient image with the neural network as a convolution neuralnetwork.
 10. The nozzle monitoring system of claim 1, wherein the firstsensor is a piezoelectric sensor.
 11. A sprayer system for dispersing aprimary fluid on a work vehicle, comprising: at least a first nozzleapparatus configured to disperse the primary fluid and to execute acleaning event; a first sensor configured to generate signals associatedwith vibrations of the first nozzle apparatus during operation; and acontroller having a processor receiving the signals generated by thefirst sensor and having a memory coupled to the processor and storinginstructions, the processor executing the stored instructions to:convert the vibrations into a frequency domain representation; generatean image from the frequency domain representation; classify the imagewith a neural network to generate a clog condition probability; comparethe clog condition probability to a clog condition threshold; andgenerate, when the clog condition probability meets or exceeds the clogcondition threshold, a command to initiate the cleaning event of thefirst nozzle apparatus.
 12. The sprayer system of claim 11, wherein thecontroller is further configured to convert the vibrations into timedomain frames, to subsequently convert the time domain frames into thefrequency domain representation, and to convert the time domain framesinto the frequency domain representation with a Fourier transform. 13.The sprayer system of claim 12, wherein the controller is furtherconfigured to, prior to generating the image, wrap the frequency domainrepresentation onto a Mel-frequency cepstrum scale (MFC) spectrogram,and wherein the controller is further configured to generate the imageby performing a cosine transformation on the MFC spectrogram.
 14. Thesprayer system of claim 13, wherein the controller is further configuredto generate the image as an MFC coefficient image by performing thecosine transformation on the MFC spectrogram, identifying amplitudes ofthe cosine transformation, and expressing the amplitudes as MFCcoefficients over time.
 15. The sprayer system of claim 14, wherein thecontroller is further configured to classify the MFC coefficient imagewith the neural network as a convolutional neural network.
 16. Thesprayer system of claim 15, wherein the MFC coefficient image generatedbased on the signals from the first sensor is a nozzle MFC coefficientimage, and wherein the sprayer system further comprises a second sensorpositioned at a distance from the first nozzle apparatus and configuredto generate signals associated with vibrations of the work vehicleduring operation; and wherein the controller is further configured toreceive the signals from the second sensor, to generate a baseline MFCcoefficient image based on the signals from the second sensor, and toclassify the nozzle MFC coefficient image with the baseline MFCcoefficient image to generate the clog condition probability.
 17. Thesprayer system of claim 16, wherein the first sensor is a piezoelectricsensor.
 18. The sprayer system of claim 17, wherein the second sensor isa piezoelectric sensor.
 19. The sprayer system of claim 11, wherein thefirst nozzle apparatus comprises: a manifold defining a plurality ofmanifold faces and a nozzle cavity within an interior of the manifold,wherein the manifold defines a fluid inlet passage extending between afirst face of the manifold faces and the nozzle cavity, a fluid outletpassage extending between a second face of the manifold faces and thenozzle cavity, an air outlet passage extending between a third face ofthe manifold faces and the nozzle cavity, and an air inlet passageextending between an air inlet on at least one of the manifold faces andthe nozzle cavity, and wherein the fluid inlet passage is configured toselectively receive the primary fluid and the air inlet passage isconfigured to selectively receive a flow of air; a nozzle holderarranged within the nozzle cavity; and at least one nozzle elementmounted to or within the nozzle holder and defining a nozzle elementpassage with a nozzle element inlet and a nozzle element outlet, andwherein the nozzle holder is selectively pivotable within the nozzlecavity, including between a nominal position and a cleaning positionduring the cleaning event initiated by the controller, wherein, in thenominal position, the nozzle element inlet is oriented toward the fluidpassage inlet and the nozzle element outlet is oriented toward the fluidpassage outlet such that the primary fluid flows through the fluid inletpassage, through the nozzle element passage, and out of the nozzleelement outlet through the fluid outlet passage, and wherein, in thecleaning position, the nozzle element inlet is oriented toward the airoutlet passage and the nozzle element outlet is oriented toward the airinlet passage such that the flow of air is directed through the airinlet passage, through the nozzle element, and out of the air outletpassage to direct at least a portion of any debris within the nozzleelement passage from the nozzle element passage out through the airoutlet passage.
 20. The sprayer system of claim 11, wherein the firstnozzle apparatus comprises: a support plate; a fluid manifold mounted onthe support plate defining a fluid passage to receive the primary fluid;a fluid nozzle element coupled to the fluid manifold and configured toreceive the primary fluid from the fluid passage; an actuator gearassembly mounted on the support plate; a pincher gear assemblycomprising a first pincher gear and a second pincher gear mounted to thesupport plate, wherein the first pincher gear is engaged with the secondpincher gear and the second pincher gear is engaged with the actuatorgear assembly; and a first pincher mounted on the first pincher gear;and a second pincher mounted on the second pincher gear, wherein thefirst and second pincher are positioned on opposite sides of the fluidnozzle element, and wherein the actuator gear assembly is configured todrive the pincher gear assembly during the cleaning event initiated bythe controller between a first position in which the first and secondpinchers are positioned to deform the fluid nozzle element and a secondposition in which the first and second pinchers are positioned such thatthe fluid nozzle element is undeformed by the first and second pinchers.